Epson RC700, RC700-A User Manual

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Rev.23 EM196C3946F

ROBOT CONTROLLER

RC700 / RC700-A

ROBOT CONTROLLER RC700 / RC700-A Rev.23

ROBOT CONTROLLER

RC700 / RC700-A

Rev.23

RC700 / RC700-A Rev.23 i

FOREWORD

1. Damage or malfunction caused by improper use which is not described in the manual,

Malfunctions caused by customers’ unauthorized disassembly.

Damage due to improper adjustments or unauthorized repair

Damage caused by natural disasters such as earthquake, flood, etc.

1. If the

associated equipment is used outside of the usage conditions and

product

2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be

responsible for any malfunction or accident, even if the result is injury or death.

3. We cannot foresee all possible dangers and consequences. Therefore, this manual

cannot warn the user of all possible hazards.

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the robot controller.

Please carefully read this manual and other related manuals before installing the robot

system.

Keep this manual handy for easy access at all times.

WARRANTY

The robot system and its optional parts are shipped to our customers only after being

subjected to the strictest quality controls, tests, and inspections to certify its compliance

with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of

charge during the normal warranty period. (Please contact the supplier of your region for

warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur

during the warranty period):

careless use.

Warnings, Cautions, Usage:

robot system

specifications described in the manuals, this warranty is void.

attempts.

ii RC700 / RC700-A Rev.23

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® 7 Operating system

Microsoft® Windows® 8 Operating system

Microsoft® Windows® 10 Operating system

Throughout this manual, Windows 7, Windows 8, and Windows 10 refer to above

respective operating systems. In some cases, Windows refers generically to Windows 7,

Windows 8, and Windows 10.

NOTICE

No part of this manual may be copied or reproduced without authorization.

The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments

regarding its contents.

MANUFACTURER

CONTACT INFORMATION

Contact information is described in “SUPPLIERS” in the first pages of the following manual:

Robot System Safety and Installation Read this manual first

RC700 / RC700-A Rev.23 iii

Before Reading This Manual

NOTE

Do not connect the followings to the TP/OP port of RC700 / RC700-A. Connecting to the

followings may result in malfunction of the device since the pin assignments are different.

OPTIONAL DEVICE dummy plug

Operation Pendant OP500

Operator Pendant OP500RC

Jog Pad JP500

Teaching Pendant TP-3**

Operator Panel OP1

For RC700 / RC700-A, be sure to install the EPSON RC+7.0 to the development PC first,

then connect the development PC and RC700 / RC700-A with the USB cable.

If RC700 / RC700-A and the development PC are connected without installing the EPSON

RC+7.0 to the development PC, [Add New 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 connection

by installing the antivirus software.

Security support for the USB memory:

Make sure the USB memory is not infected with virus when connecting to the Controller.

iv RC700 / RC700-A Rev.23

Safety

1. Safety 3

2. Conventions 3

3. Safety Precautions 4

Setup & Operation

1. Specifications 9

1.1 System Example ....................................................................................... 9

1.2 Standard Specifications .......................................................................... 11

1.3 Outer Dimensions ................................................................................... 13

2. Part Names and Functions 14

2.1 LED and Seven-segment LED ............................................................... 18

2.1.1 LED and Seven-segment LED Display ....................................... 18

2.1.2 Particular Status Display ............................................................. 19

2.2 Safety Features ....................................................................................... 20

3. Installation 22

3.1 Unpacking ............................................................................................... 22

3.2 Environmental Requirements ................................................................. 22

3.2.1 Environment ................................................................................ 22

3.2.2 Installation ................................................................................... 23

3.2.3 Wall Mounting Option .................................................................. 24

3.3 Power Supply .......................................................................................... 28

3.3.1 Specifications .............................................................................. 28

3.3.2 AC Power Cable .......................................................................... 29

3.4 Cable Connection ................................................................................... 30

3.4.1 Typical Cable Connection ........................................................... 31

3.4.2 Connecting Manipulator to Controller ......................................... 33

3.5 Noise Countermeasures ......................................................................... 34

4. Operation Mode (TEACH/AUTO/TEST) 35

4.1 Overview ................................................................................................. 35

4.2 Switch Operation Mode .......................................................................... 36

4.3 Program Mode (AUTO) ........................................................................... 37

RC700 / RC700-A Rev.23 v

Table of Contents

4.3.1 What is Program Mode (AUTO)?................................................ 37

4.3.2 Setup from EPSON RC+ ............................................................ 37

4.4 Auto Mode (AUTO) ................................................................................. 38

4.4.1 What is Auto mode (AUTO)? ...................................................... 38

4.4.2 Setup from EPSON RC+ ............................................................ 38

4.4.3 Setup from Control Device .......................................................... 39

5. Development PC Connection USB Port 40

5.1 About Development PC Connection USB Port ...................................... 40

5.2 Precaution ............................................................................................... 40

5.3 PC and Controller Connection Using Development PC Connection

USB Port ................................................................................................. 41

5.4 Disconnection of Development PC and Controller ................................. 42

5.5 How to Fix USB Cable ............................................................................ 42

6. Memory Port 43

6.1 What is Backup Controller Function? ..................................................... 43

6.2 Before Using Backup Controller Function .............................................. 43

6.2.1 Precautions ................................................................................. 43

6.2.2 Adoptable USB Memory ............................................................. 43

6.3 Backup Controller Function .................................................................... 44

6.3.1 Backup Controller with Trigger Button ........................................ 44

6.3.2 Load Data with EPSON RC+ 7.0 ................................................ 44

6.3.3 Transfer with E-mail .................................................................... 44

6.4 Details of Data ........................................................................................ 45

7. LAN (Ethernet Communication) Port 46

7.1 About the LAN (Ethernet Communication) Port ..................................... 46

7.2 IP Address .............................................................................................. 46

7.3 Changing Controller IP Address ............................................................. 47

7.4 Connection of Development PC and Controller with Ethernet ............... 48

7.5 Disconnection of Development PC and Controller with Ethernet .......... 49

8. TP Port 50

8.1 What is the TP Port? .............................................................................. 50

8.2 Teach Pendant Connection .................................................................... 51

vi RC700 / RC700-A Rev.23

Table of Contents

9. EMERGENCY 52

9.1 Safety Door Switch and Latch Release Switch ...................................... 52

9.1.1 Safety Door Switch ...................................................................... 53

9.1.2 Latch Release Switch .................................................................. 53

9.1.3 Checking Latch Release Switch Operation ................................ 54

9.2 Emergency Stop Switch Connection ...................................................... 55

9.2.1 Emergency Stop Switch .............................................................. 55

9.2.2 Checking Emergency Stop Switch Operation ............................. 55

9.2.3 Recovery from Emergency Stop ................................................. 55

9.3 Pin Assignments ..................................................................................... 56

9.4 Circuit Diagrams ..................................................................................... 57

9.4.1 Example 1: External emergency stop switch typical application 57

9.4.2 Example 2: External safety relay typical application ................... 58

10. Standard RS-232C Port 59

10.1 RS-232C Port ........................................................................................ 59

10.2 Confirmation with EPSON RC+ 7.0 (RS-232C) ................................... 59

10.3 RS-232C Software Communication Setup (RS-232C)......................... 60

10.4 Communication Cable (RS-232C) ........................................................ 60

11. I/O Connector 61

11.1 Input Circuit ........................................................................................... 61

11.2 Output Circuit ........................................................................................ 64

11.3 Pin Assignments ................................................................................... 66

12. I/O Remote Settings 67

12.1 I/O Signal Description ........................................................................... 68

12.1.1 Remote Input Signals ................................................................ 68

12.1.2 Remote Output Signals ............................................................. 72

12.2 Timing Specifications ............................................................................ 75

12.2.1 Design Notes for Remote Input Signals .................................... 75

12.2.2 Timing Diagram for Operation Execution Sequence ................ 75

12.2.3 Timing Diagram for Program Execution Sequence .................. 75

12.2.4 Timing Diagram for Safety Door Input Sequence ..................... 76

12.2.5 Timing Diagram for Emergency Stop Sequence ...................... 76

13. R-I/O Connector 77

13.1 Input Circuit ........................................................................................... 77

13.2 Pin Assignments ................................................................................... 78

RC700 / RC700-A Rev.23 vii

Table of Contents

14. Option Slots 79

14.1 About Option Slots ................................................................................ 79

14.2 Expansion I/O Board ............................................................................ 80

14.2.1 Expansion I/O Board ................................................................. 80

14.2.2 Board Configuration (Expansion I/O Board) ............................. 80

14.2.3 Confirmation with EPSON RC+ 7.0 (Expansion I/O Board) ..... 80

14.2.4 Input Circuit ............................................................................... 81

14.2.5 Output Circuit ............................................................................ 83

14.2.6 Pin Assignments (Expansion I/O Board) .................................. 86

14.3 Fieldbus I/O Board ................................................................................ 90

14.4 RS-232C Board .................................................................................... 91

14.4.1 About the RS-232C Board ........................................................ 91

14.4.2 Board Setup (RS-232C) ............................................................ 91

14.4.3 Confirmation with EPSON RC+ (RS-232C) .............................. 92

14.4.4 RS-232C Software Communication Setup (RS-232C) ............. 92

14.4.5 Communication Cable (RS-232C) ............................................ 93

14.5 PG Board .............................................................................................. 94

14.6 Analog I/O Board .................................................................................. 95

14.6.1 About Analog I/O Board ............................................................ 95

14.6.2 Board Configuration (Analog I/O Board)................................... 96

14.6.3 Confirmation with EPSON RC+ (Analog I/O Board) ................. 99

14.6.4 Input Circuit (Analog I/O Board) ............................................. 100

14.6.5 Output Circuit (Analog I/O Board) ........................................... 100

14.6.6 Pin Assignments (Analog I/O Board) ...................................... 101

14.7 Force Sensor I/F Board ...................................................................... 102

14.7.1 About Force Sensor I/F Board ................................................ 102

14.7.2 Board Configuration (Force Sensor I/F Board) ....................... 102

14.7.3 Confirmation with EPSON RC+ (Force Sensor I/F Board) ..... 103

14.8 EUROMAP67 Board ........................................................................... 104

14.8.1 Notes on the EUROMAP67 Board ......................................... 106

14.8.2 Board Settings (EUROMAP67 Board) .................................... 108

14.8.3 Installation (EUROMAP67 Board) .......................................... 108

14.8.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board) ...... 111

14.8.5 Sample Project (EUROMAP67 Board) ................................... 111

14.8.6 Circuit Overview (EUROMAP67 Board) ................................. 112

14.8.7 Input Circuit (EUROMAP67 Board) ........................................ 113

14.8.8 Output Circuit (EUROMAP67 Board) ..................................... 113

14.8.9 Emergency Stop, Safeguard (EUROMAP67 Board) ........... 114

14.8.10 I/O Pin Assignments (EUROMAP67 Board) ......................... 115

viii RC700 / RC700-A Rev.23

Maintenance

Table of Contents

14.8.11 Emergency stop connecter Pin Assignments

(EUROMAP67 Board) ............................................................... 117

1. Safety Precautions on Maintenance 121

2. Regular Maintenance Inspection 123

3. Controller Structure 124

3.1 Location of Parts ................................................................................... 124

3.1.1 RC700 ....................................................................................... 124

3.1.2 RC700-A .................................................................................... 124

3.2 Diagram of Cable Connections ............................................................. 125

3.2.1 RC700 ....................................................................................... 125

3.2.2 RC700-A .................................................................................... 126

4. Backup and Restore 127

4.1 What is the Backup Controller Function? ............................................. 127

4.2 Backup Data Types .............................................................................. 127

4.3 Backup .................................................................................................. 128

4.4 Restore.................................................................................................. 129

5. Firmware Update 132

5.1 Updating Firmware................................................................................ 132

5.2 Firmware Upgrade Procedure .............................................................. 132

5.3 Controller Recovery .............................................................................. 135

5.4 Firmware Initialization Procedure ......................................................... 136

6. Alarm 138

6.1 Before Controller Firmware Ver.7.1.8.x ................................................ 139

6.1.1 Alarm Configuration .................................................................. 139

6.1.2 How to View the Alarm Information .......................................... 140

6.1.3 How to Edit the Alarm Information ............................................ 141

6.1.4 Alarm Notifying Method ............................................................. 141

6.1.5 How to Cancel the Alarm .......................................................... 142

6.2 Controller Firmware Ver.7.2.0.x or later ............................................... 143

6.2.1 Maintenance .............................................................................. 143

RC700 / RC700-A Rev.23 ix

Table of Contents

6.2.2 How to View the Maintenance Information ............................... 144

6.2.3 How to Edit the Maintenance Information................................. 146

6.2.4 Alarm Notifying Method............................................................. 147

6.2.5 How to Cancel the Alarm .......................................................... 147

7. Maintenance Parts Replacement Procedures 148

7.1 Fan Filter ............................................................................................... 148

7.2 Fan ........................................................................................................ 149

7.2.1 Front Fan ................................................................................... 149

7.2.2 Regenerative Fan (RC700-A only) ........................................... 150

7.3 Battery................................................................................................... 152

7.4 CF (Compact Flash) ............................................................................. 154

7.5 MDB ...................................................................................................... 155

7.6 DMB ...................................................................................................... 158

7.7 DMB-SUB Board................................................................................... 162

7.8 DMB-LED Board ................................................................................... 163

7.8.1 DMB-LED Board (RC700) ........................................................ 163

7.8.2 DMB-LED Board (RC700-A) ..................................................... 164

7.9 DPB ....................................................................................................... 165

7.10 Option Board ....................................................................................... 167

8. Verifying Robot System Operation 168

9. Troubleshooting 169

9.1 Error Code Table .................................................................................. 169

9.2 Cannot Connect the Development PC and the Controller using

the USB cable ....................................................................................... 298

9.2.1 Confirmation Using Windows Device Manager ........................ 299

9.2.2 When recognized under “Other devices”

in Windows Device Manager .................................................. 301

10. Maintenance Parts List 302

x RC700 / RC700-A Rev.23

Safety

This section contains information for safety

of the Robot System.

WARNING

serious injury or

properly.

WARNING

This symbol indicates that a danger of possible harm to people

not followed properly.

CAUTION

exists if the

associated instructions are not followed properly.

1. Safety

Installation and transportation of manipulators and robotic equipment shall be performed

by qualified personnel and should conform to all national and local codes.

Please read this manual and other related manuals before installing the robot system or

before connecting cables. Keep this manual in a handy location for easy access at all

times.

2. Conventions

Important safety considerations are indicated throughout the manual by the following

symbols. Be sure to read the descriptions shown with each symbol.

Safety 1. Safety

This symbol indicates that a danger of possible

death exists if the associated instructions are not followed

caused by electric shock exists if the associated instructions are

This symbol indicates that a danger of possible harm to people or

physical damage to equipment and facilities

RC700 / RC700-A Rev.23 3

Safety 3. Safety Precautions

Personnel who design and/or construct the robot system with this product must read the Safety chapter in User’s Guide to understand the safety requirements before designing and/or constructing the robot system. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.

The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals. This product has been designed and manufactured strictly for use in a normal indoor environment. Using the product in an environment that exceeds the specified environmental conditions may not only shorten the life cycle of the serious safety problems.

The the manuals. may problem

The interlock of the Safety Door must be functioning when the operated.

e system under the condition that the switch cannot be turned ON/OFF. (I.E. the condition where the switch is disabled) (Example: Tape is put around the switch to hold it closed.) Operating the robot system when the switch is not

extremely hazardous and

may

s as the Safety Door input cannot fulfill its

intended function

Connect input signal wires for Emergency Stop and Safety Door to the EMERGENCY connector so that the Emergency Stop switch in the T Pendant connected to the TP port always functions. (Refer to the typical application diagram in Setup & Operation 9.4

3. Safety Precautions

Only trained personnel should design and install the robot system.

Trained personnel are defined as those who have taken robot system training class held by

the manufacturer, dealer, or local representative company, or those who understand the

manuals thoroughly and have the same knowledge and skill level as those who have

completed the training courses.

The following items are safety precautions for qualified design or installation personnel:



WARNING

product but may also cause

robot system must be used within the installation requirements described in



Using the robot system outside of the installation requirements

not only shorten the life cycle of the product but also cause serious safety



Do not operate th

functioning properly is

cause serious safety problem



Circuit Diagrams.)

robot system is

each

4 RC700 / RC700-A Rev.23

Safety 3. Safety Precautions

Do not open the cover(s) of the Control the cover(s) of the Controller is

and may result in electric shock inside the Control

Make sure that the power to the Control

before connecting or

disconnecting any cables.

any cables with the power ON ma

Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or a contact failure is extremely hazardous and may result in electric shock and/or improper function of the system.

When by qualified personnel. When connecting the plug, wire of the AC power cable colored green/yellow

to the earth terminal of the factory power supply. at all times to avoid the risk of electric shock. receptacle (Field wiring)

The serial number of the Manipulator that should be connected is indicated on the Manipulator correctly. Improper connection between the Controller and the Manipulator may cause improper function of the robot system and also safety p

When using remote I/O, always make sure of the following. Using the robot system under

conditions may cause malfunction of the system

and/or safety problems.

correctly when

- Make sure that the functions correspond to the correct input/output signals

- When verifying the robot system operation, prepare for failures with initial

the Manipulator functions unusually by the failures with

initial settings or wiring, press the Emergency Stop switch immediately to stop

The following items are safety precautions for qualified design or installation personnel: (cont.)

WARNING



even when its main power is OFF because of the high voltage charge



is extremely hazardous and may result in electric shock and/or

lfunction of the Controller.



connecting the plug to fit the outlet in your factor y, make sure that it is done

. Never connect the Controller directly to the factory power supply.

ler except while maintaining it. Opening

extremely hazardous

ler.

ler is turned OFF

Connecting or disconnecting

be sure to connect the earth

on the Controller

The equipment must be grounded properly

Always use a power plug and



Connection Check Label on the Controller. Connect the Controller and the

roblems.



unsatisfactory

CAUTION

Assign remote functions to inputs/outputs correctly and wire

setting up remote I/O signals.

before turning ON the system.

RC700 / RC700-A Rev.23 5

settings or wiring. If

the Manipulator.

Safety 3. Safety Precautions

The interlock of the Safety Door must be functioning when the operated. Do not operate the system under the condition that the switch cannot be turned ON/OFF. (I.E. the condition where the switch is disabled) (Example: Tape is put around system when the switch is not

is extremely hazardous and

may

s as the Safety Door input cannot fulfill its

intended function

Do not open the cover(s) of the Controller is

and may result in electric shock inside the Control

The following items are safety precautions for qualified operator personnel:

WARNING



robot system is

the switch to hold it closed.) Operating the robot

functioning properly

cause serious safety problem



the cover(s) of the Controller except while maintaining it. Opening

extremely hazardous

even when its main power is OFF because of the high voltage charge

ler.

6 RC700 / RC700-A Rev.23

Setup & Operation

This section contains information for setup and operation

of the Robot Controller.

Operation Panel

Motion Controller

RC700 / RC700

-A

Expansion I/O Board

Fieldbus

PROFIBUS-DP DeviceNet CC-Link EtherNet/IP PROFINET

EtherCAT

RS-232C Board

Windows *1

EPSON RC+ 7.0

software

Option

USB 2.0 or Ethernet

TP2

(option)

- Standard I/O

- Remote I/O

- Ethernet

- RS-232C

Requires preparation by uses

C4 series C8 series

PLC (Sequencer)

Option

Standard

Analog I/O Board

TP1 (option)

G series

RS series

RC700DU

/ RC700DU-A

* 2

* 3

TP3 (

option)

* 5

series

* 4

Force Sensor I/F Board

EUROMAP67

Board

PG Board

1. Specifications

1.1 System Example

Safety 1. Specifications

RC700 / RC700-A Rev.23 9

Safety 1. Specifications

C8 G RS

RC700  - - - - - - RC700-A

      

*1 EPSON RC+ 7.0 supports the following OS.

Windows 7 Professional Service Pack 1 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 Up to three Drive Units can be connected.

For details, refer to following manual.

Robot Controller / Drive Unit RC700DU / RC700DU-A

*3 Any one of the manipulators can be controlled.

Available combinations are as follows. (: connectable)

*4 Any one of the Teach pendant can be controlled.

TP3 cannot be connected to RC700.

*5 When connecting to RC700-A, a dedicated conversion cable is required.

10 RC700 / RC700-A Rev.23

Item

Specification

Model

Robot Controller RC700 / RC700-A

Programming

Up to 6 joints simultaneous control Software AC servo control

PTP motion : Programmable in the range of

to be manually entered.)

Maximum Object Size : 4 MB

Max. 100 KB (Includes the memory area for

Approx. 1000 variables (Depends on the size of array variables.)

Remote

Including 8 inputs, 8 outputs with remote

allowed

1.2 Standard Specifications

CPU 32 bits Micro Processor

Controllable axes 6 AC servo motors

Safety 1. Specifications

Robot manipulator control

Positioning control

Memory capacity

language and Robot control software

Joint Control

Speed Control

Acceleration/ deceleration control

PTP (Point-To-Point control) CP (Continuous Path control)

Point data area : 1000 points (per file) Backup variable area :

EPSON RC+ 7.0 (a multi-tasking robot language)

1 to 100%

CP motion : Programmable (Actual value

to be manually entered.)

1 to 100%; Automatic

CP motion : Programmable (Actual value

the management table.)

Teaching method

External input/output signals (standard)

Communication interface (standard)

RS-232C port

Direct MDI (Manual Data Input)

Standard I/O

R I/O

Standard I/O

(Drive Unit)

Ethernet 1 channel

1 port

Input : 24 Output : 16

Input : 2 Output : 2

Input : 24 Output : 16

function assigned Assignment change

Per 1 Drive Unit

RC700 / RC700-A Rev.23 11

Safety 1. Specifications

Item

Specification

Addition of 2 boards allowed *2

EtherCAT

1 board allows

Controllable joints 4 joints/board

Addition of 4 boards allowed

SKU1

Output: 1ch

Addition of 4 board from the left

Output: 2ch Input: 2ch

Input : 15 Output : 16

Addition of 2 boards allowed

Maximum Rated Capacity

2.5 kVA (Depending on the Manipulator model)

Insulation Resistance

100 MΩ or more

Rated Ambient Temperature

5 to 40 °C

Rated Relative Humidity

20% to 80% (with no condensation)

Weight *1

11 kg

Options

(Max. 4 slots)

Safety features

Expansion I/O

Communication interface

Analog I/O

EUROMAP67

Input : 24 per board Output : 16 per board

Addition of 4 boards allowed

RS-232C : 2ch per board

Fieldbus I/O : 1ch per board

PROFIBUS-DP, DeviceNet, CC-Link, EtherNet/IP, PROFINET

Force Sensor I/F: 1ch/port

SKU2

Addition of 1 board from the left allowed

Addition of

allowed

- Emergency stop switch

- Safety door input

- Low power mode

- Dynamic brake

- Motor overload detection

- Irregular motor torque (out-of-control

Manipulator) detection

- Motor speed error detection

- Positioning overflow - servo error - detection

- Speed overflow - servo error - detection

- CPU irregularity detection

- Memory check-sum error detection

- Overheat detection at the Motor Driver Module

- Relay welding detection

- Over-voltage detection

- AC power supply voltage reduction detection

- Temperature error detection

- Fan error detection

Power Source

*1 Weight of the unit is indicated on the Controller itself.

Make sure to check the weight before units transfer or relocation and prevent throwing out

your back at holding the unit.

Also, make sure to keep your hands, fingers, and feet safe from being caught or serious injury.

*2 When using the Force Sensor I/F board, a maximum of one board/two ports expansion is

available for RS-232C board.

12 RC700 / RC700-A Rev.23

200 VAC to 240 VAC Single phase 50/60 Hz

1.3 Outer Dimensions

Safety 1. Specifications

[Unit : mm]

(Figure: RC700)

RC700 / RC700-A Rev.23 13

Safety 2. Part Names and Functions

(2)

(3)

(1) (Left side)

)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(18)(19)

(20)

(21)

(22)

(23)

(2)

(3)

(1) (Left side)

(4)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(18)(19)

(20)

(21)

(22)

(23)

2. Part Names and Functions

RC700

RC700-A

(1) Controller Number label

The serial number of the Controller is indicated.

(2) LED

The LED indicates current operation mode

(TEST, TEACH, AUTO, or PROGRAM mode). For details, refer to Setup & Operation 2.1 LED and Seven-segment LED.

(3) Seven-segment Display

Four-digit seven-segment LED displays the line number and the status of the

controller (error number, warning number, status of Emergency Stop and Safety Door). For details, refer to Setup & Operation 2.1 LED and Seven-segment 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 Controller.

14 RC700 / RC700-A Rev.23

Safety 2. Part Names and Functions

(9) Connection Check label

the Manipulator to be connected are recorded

MANIPULATOR

00001

C4-A600S

Switch

M/C Cable Length

3 m

5 m

10 m

15, 20 m

NOTE

(6) Option slot

Option boards such as expansion I/O board, Fieldbus I/O board, RS-232C board, PG

board, Analog I/O board, and Force Sensor I/F board can be installed. Four slots are

available. For details, refer to Setup & Operation 13.Option Slots.

(7) Battery

A lithium battery for data backup.

(8) POWER switch

Turns ON or OFF the Controller.

The details of on the label as shown in the right. The label indicates the Manipulator model and Manipulator serial number.

(10) EMERGENCY connector

This connector is used for input/output from/to Emergency Stop and Safety Door switches. For details, refer to the Setup & Operation 9. EMERGENCY.

(11) TP port

Connects Teach Pendant TP1, TP2, TP3 (Option) and TP bypass plug. Note that the

shape of the TP port differs between RC700 and RC700-A. For details, refer to Setup & Operation 8. TP Port.

Do not connect the following to the TP port of RC700/RC700-A. It may result in

malfunction of the device since the pin assignments are different.

OPTIONAL DEVICE dummy plug Operation Pendant OP500 Operator Pendant OP500RC Jog Pad JP500

Teaching Pendant TP-3** Operator Panel OP1

(12) Standard RS-232C port

This port is used for the RS-232C communication with external devices.

For details, refer to

Setup & Operation 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.

RC700 / RC700-A Rev.23 15

(14) M/C SIGNAL connector

This connector is used for signals such as the manipulator’s motor position detector, etc. Connect the Manipulator’s dedicated signal cable.

Safety 2. Part Names and Functions

(15) R-I/O connector

This connector is for the input signals used for the real time I/O function.

(16) RC700: DU OUT connector / RC700-A: OUT connecter

The connector for Drive Unit.

(17) Development PC connection USB port

This port connects the Controller and the Development PC using a USB cable.

Do not connect other devices except the Development PC.

For details, refer to Setup & Operation 5. Development PC Connection USB Port.

(18) Memory port

This port connects the common USB memory for Controller backup function. Do

not connect other USB devices except the USB memory.

For details, refer to Setup & Operation 6. Memory Port.

(19) Trigger Switch

This switch is for Controller backup function using the USB memory. For details, refer to Setup & Operation 6. Memory Port.

(20) LAN (Ethernet communication) port

This port connects the Controller and the Development PC using an Ethernet cable. 100BASE-TX / 10BASE-T communication are available. For details, refer to Setup & Operation 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 Setup & Operation 3.3.2 AC Power Cable.

(23) Signature label

The serial number of the Controller and other information are shown.

16 RC700 / RC700-A Rev.23

(24

)

Remove a fixing screw of lockout bracket A by

Screw

Put a padlock through the holes of the lockout

Padlock

RC700-A-UL

Safety 2. Part Names and Functions

UL-Compliant Controller (RC700-A-UL):

(24) Lock out feature

This feature is used to lock out the power switch when working with the power

off such as maintenance.

A padlock for lockout should be prepared by users.

Applicable shackle diameter: 4.0 to 6.5 mm

Perform lockout using the following procedure.

(1)

hand.

(2) Rotate the lockout bracket A.

(3) Set the screw removed in the step (1) to the lockout

bracket B so as not to lose it.

(4)

brackets A and B to lock.

RC700 / RC700-A Rev.23 17

Safety 2. Part Names and Functions

Controller status

Display of seven-segment

Execute Controller status

to the USB memory

Complete Controller status storage to USB memory

Failure of Controller status storage to USB memory

Error

Displays four-digit error number (0.5 sec) and

(0.5 sec) repeatedly.

Warning

Displays four-digit warning number (0.5 sec)

and (0.5 sec) repeatedly.

2.1 LED and Seven-segment LED

2.1.1 LED and Seven-segment LED Display

There are four LEDs and a four-digit seven-segment LED display located on the front panel of the Controller.

LED : LED (TEST, TEACH, AUTO, PROGRAM) turns ON according to the

current operation mode (TEST, TEACH, Auto, Program).

Seven-segment : Indicates the line number and Controller status (error number, warning

number, Emergency Stop or Safeguard status).

From turning ON the Controller to completing startup

LED : All four LEDs blink.

Seven-segment : All four LED digits turn OFF the lights.

After Controller Startup

LED : LED (TEST, TEACH, AUTO, PROGRAM) turns ON according to the

current operation mode (TEST, TEACH, Auto, Program).

Seven-segment : Display changes according to the Controller status.

When several Controller statuses occurred 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,

storage function

Emergency Stop

Safety Door

READY

START

PAUSE

is displayed.

Displays and repeatedly.

Displays (for 2 seconds)

line number

Blink

*1 For error numbers, refer to EPSON RC+ 7.0 SPEL+ Language Reference, or Online

Help.

*2 In initial status, execution line of task number 1 is displayed in three-digit.

Use Ton statement to change the displayed task number.

For details, refer to EPSON RC+ 7.0 SPEL+ Language Reference, or Online Help.

18 RC700 / RC700-A Rev.23

Safety 2. Part Names and Functions

Seven-segment

Controller status

2.1.2 Particular Status Display

When particular status occurs, seven-segment displays the followings.

*1 When the Initialize Error occurs, reboot the Controller. If the Initialize Error is displayed

again after the Controller is rebooted, please contact the supplier of your region.

Controller startup failure *1

Controller startup failure

Controller in Recovery mode Refer to Maintenance 4. Backup and Restore.

AC power supply drop is detected and software shut down.

Software shut down is specified from the EPSON RC+ 7.0 (software) or the Teach Pendant (option).

RC700 / RC700-A Rev.23 19

Safety 2. Part Names and Functions

2.2 Safety Features

The robot control system supports safety features described below. However, it is recommended to strictly follow the proper usage of the robot system by thoroughly reading the attached manuals before using the system. Failure to read and understand the proper usage of the safety functions is highly dangerous.

Among the following safety features, the Emergency Stop Switch and Safety Door Input are particularly important. Make sure that these and other features function properly before operating the robot system.

For details, refer to Setup & Operation 9. EMERGENCY.

Emergency Stop Switch

The EMERGENCY connector on the Controller has expansion Emergency Stop input terminals used for connecting the Emergency Stop switches. Pressing any Emergency Stop switch can shut off the motor power immediately and the robot system will enter the Emergency Stop condition.

Stop category of Emergency Stop input: Category 0 (refer to Safety Standard IEC60204-1)

Safety Door Input

In order to activate this feature, make sure that the Safety Door Input switch is connected to the EMERGENCY connector at the Controller.

When the safety door is opened, normally the Manipulator immediately stops the current operation, and the status of Manipulator power is operation-prohibited until the safety door is closed and the latched condition is released. In order to execute the Manipulator operation while the safety door is open, you must change the mode selector key switch on the Teach Pendant to the “Teach” mode. Manipulator operation is available only when the enable switch is on. In this case, the Manipulator is operated in low power status.

Stop category of Safety door input: Category 1 (refer to Safety Standard IEC60204-1)

Low Power Mode

The motor power is reduced in this mode. Executing a power status change instruction will change to the restricted (low power) status regardless of conditions of the safety door or operation mode. The restricted (low power) status ensures the safety of the operator and reduces the possibility of peripheral equipment destruction or damage caused by careless operation.

Dynamic Brake

The dynamic brake circuit includes relays that short the motor armatures. The dynamic brake circuit is activated when there is an Emergency Stop input or when any of the following errors is detected: encoder cable disconnection, motor overload, irregular motor torque, motor speed error, servo error (positioning or speed overflow), irregular CPU, memory check-sum error and overheat condition inside the Motor Driver Module.

Overload Detection

The dynamic brake circuit is activated when the system detects the overload status of the motor.

Irregular Torque (out-of-control manipulator) Detection

The dynamic brake circuit is activated when irregular motor torque (motor output) is detected.

20 RC700 / RC700-A Rev.23

Motor Speed Error Detection

The dynamic brake circuit is activated when the system detects that the motor is running at incorrect speed.

Positioning Overflow –Servo Error- Detection

The dynamic brake circuit is activated when the system detects that the difference between the Manipulator’s actual position and commanded position exceeds the margin of error allowed.

Speed Overflow –Servo Error- Detection

The dynamic brake circuit is activated when the Manipulator’s actual speed is detected to mark an overflow (the actual speed is outside the nominal range) error.

CPU Irregularity Detection

Irregularity of CPU that controls the motor is detected by the watchdog timer. The system CPU and the motor controlling CPU inside the Controller are also designed to constantly check each other for any discrepancies. If a discrepancy is detected, the dynamic brake circuit is activated.

Memory Check-sum Error Detection

The dynamic brake circuit is activated when a memory check-sum error is detected.

Safety 2. Part Names and Functions

Overheat Detection at the Motor Driver Module

The dynamic brake circuit is activated when the temperature of the power device inside the Motor Driver module is above the nominal limit.

Relay Deposition Detection

The dynamic brake 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 Controller 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 detected.

Fan Malfunction Detection

Malfunction of the fan rotation speed is detected.

RC700 / RC700-A Rev.23 21

Safety 3. Installation

The Manipulator and the Controller must be used within the environmental conditions described in their manuals. This product has been manufactured

. Using the product in the environment that exceeds the conditions may not only shorten the life cycle of the

Item

Condition

Use a base table that is at least 100 mm off the floor.

NOTE

3. Installation

3.1 Unpacking

TP/OP Bypass Plug 1 unit

EMERGENCY Port Connector 1 set

I/O Connector 1 set

Rack-Mount Plate 1 set

Power Cable 1 cable

USB Cable Clamp 1 set

3.2 Environmental Requirements

■

strictly for use in a normal indoor environment

WARNING

product but also cause serious safety problems.

3.2.1 Environment

designed and

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 easy connection / disconnection of cables.

Ambient temperature

Ambient relative humidity

First transient burst noise 2 kV or less (Power supply wire)

Electrostatic noise 4 kV or less

Base table

5 to 40 °C (with minimal variation)

20% to 80% (with no condensation)

1 kV or les (Signal wire)

Placing the Controller directly on the floor could allow dust penetration leading to malfunction.

22 RC700 / RC700-A Rev.23

Safety 3. Installation

* The rubber foot needs to be replaced.

NOTE

If the Controller must be used in an environment that does not fulfill the conditions mentioned above, take adequate countermeasures. For example, the Controller may be enclosed in a cabinet with adequate ventilation and cooling.

- Install indoors only.

- Place in a well-ventilated area.

- Keep away from direct sunlight and radiation heat.

- Keep away from dust, oily mist, oil, salinity, metal powder 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

(Figure: RC700)

(B) Upright Mounting

For Controller installation to the Controller box or the base table, process screw holes as follows.

* A plate for rack mounting is required.

RC700 / RC700-A Rev.23 23

Safety 3. Installation

100 mm

50 mm

200 mm

Air Flow of

the Controller Fan

200 mm Excluding the installation side such as base table

- Ensure the draft around the in/out and prevent the other equipment, walls and install the Controller by keeping the distance as follows for maintenance.

- 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.

3.2.3 Wall Mounting Option

The control unit has a wall mounting option. This section describes the installation

procedure.

(Figure/Picture: RC700)

Wall mounting with the front side down

Wall mounting with the front side up

Controller outer dimensions when using the wall mounting option

Dimensions of the mounting holes for the wall

24 RC700 / RC700-A Rev.23

(Unit: mm)

B power Performing any installation procedure while the main power is ON or the high voltage charged area is not may result in electric shock and/or cause serious safety problems.

When opening the front side, Touching the power supply terminal block inside the Controller while the power supply is ON is extremely hazardous and may result in electric shock and/or cause serious safety problems.

(1)

Remove the Top Cover Mounting controller (Mounting screw

(2)

Remove the Top Cover.

(3) Remove the screws fixing the display. (

(4) Remove the LED/7 segment board from the controller.

For The (

If the LED DISPLAY PLATE is installed with “ in the step ferrite core will be an opposite direction. Remove the latch of the ferrite core and the cable core again.

NOTE

WARNING

Safety 3. Installation

Included items of the wall mounting option

WALL FIXING BRACKET 2 brackets

LED DISPLAY FIXING PLATE 1 plate

LED DISPLAY PLATE 1 plate

Screw (M3 × 6 mm) 4 screws

Screw (M4 × 8 mm) 4 screws

■

efore installing the controller with this option, always make sure that the main

of the Controller is turned OFF and that the power plug is disconnected.

discharged completely is extremely hazardous and

■

make sure to disconnect the power plug.

- Be careful not to damage the cables.

- Be careful not to drop any screws into the Controller.

screws of the

×6)

seven segment

Controller front side: Mounting screw×2)

RC700-A:

LED/7 segment board has the ferrite code

Reference: Maintenance

7.8.2 DMB-LED Board (RC700-A))

wall mounting with the front side up” described

(7) below, the cable which passes the

change

direction, and then install the ferrite

RC700 / RC700-A Rev.23 25

Safety 3. Installation

(5) Mount the LED segment board. (Mounting screw

When installing the LED DISPLAY PLATE, be careful not to drop any screw inside the controller.

(6) Mount the LED DISPLAY FIXING PLATE to the controller.

(7) Mount the LED DISPLAY PLATE to the LED DISPLAY FIXING PLATE. (Mounting screw

There are two installation methods.

Turn the LED DISPLAY PLATE horizontally to the indicated by a red arrow.

Front side

(1)

(2)

Front side

(1)

(2)

Be careful not to pull the cable.

NOTE

DISPLAY PLATE to the LED/7

×2)

(Mounting screw×2)

×2)

Top Cover in the direction

Wall mounting with the front side down

Wall mounting with the front side up

26 RC700 / RC700-A Rev.23

Safety 3. Installation

(

Remove the plate from the Top Cover. (Mounting screw

The removed plate is not necessary when using this option. The plate may be needed when the installation type is changed. Please keep the plate for future use.

(9) Mount the Top Cover. (Mounting screw

(10)

Fix the Top Cover to the LED DISPLAY FIXING P L ATE. (Mounting screw

(11)

Mount the WALL (Mounting screw

The bracket has 6 screw holes. There are three ways of installation.

(12)

Remove the rubber hoot on the Controller (Mounting screw

The removed rubber foot is not necessary when using this option. The rubber foot may be needed when the installation type is changed. Please keep the rubber foot for future use.

(13)

Mount the Controller to the wall. (Mounting

Tightening torque 80 to 110 N·cm

NOTE

×4)

×6)

×4)

FIXING BRACKET.

×2 on both sides)

×4)

’s back side.

screw×8 M5 × 8 mm or longer)

RC700 / RC700-A Rev.23 27

Safety 3. Installation

Item

Specification

Phase

Single phase

Rated Capacity

Maximum : 2.5 kVA

Leakage Current

Max. 10 mA

3.3 Power Supply

3.3.1 Specifications

Ensure that the available power meets following specifications.

Voltage 200 to 240 VAC

Frequency 50/60 Hz

Momentary Power Interrupt

Peak Current When power is turned ON : approximately 85 A (2 ms.)

(Input voltage should be with in ±10 % of the rated voltage.)

10 ms or less

Actual power consumption depends on the model, motion, and load of the Manipulator.

For approximate power consumption of each model, refer to the following values.

C4 : 1.7 kVA C8 : 2.5 kVA N2 : 0.6 kVA N6 : 2.2 kVA G1 : 0.5 kVA G3 : 1.1 kVA G6 : 1.5 kVA G10 : 2.4 kVA G20 : 2.4 kVA RS3 : 1.2 kVA RS4 : 1.4 kVA

Refer to the Manipulator manual for rated capacity of the Manipulator motor.

Rated capacity of X5 varies depending on the manipulator model. For details, please contact the supplier of your region.

When motor is ON : approximately 75 A (2 ms.)

28 RC700 / RC700-A Rev.23

Ground Resistance

Install an earth leakage circuit breaker in the AC power cable line at 15 A or less rated.

Both should be a two-pole disconnect type. If you install an earth leakage circuit breaker,

make sure to use an inverter type that does not operate by induction of a 10 kHz or more

leakage current. If you install a circuit breaker, please select one that will handle the

above mentioned “peak current”.

The power receptacle shall be installed near the equipment and shall be easily accessible.

100 Ω or less

the

for power connecting cable.

disconnecting device which conform safety standards for

Black, Black Terminal

M4 round solderless terminal

WARNING

Safety 3. Installation

3.3.2 AC Power Cable



Make sure that operations are done by a qualified personal.



Be sure to connect the earth wire (green/yellow) of the AC power cable to earth terminal of the factory power supply. The equipment must be grounded properly at all times to avoid the risk of electric shock.



Always use a power plug or a disconnecting device Never connect the Controller directly to the factory power supply.



Select the plug or a nations.

Make sure to insert the plug of the AC power cable firmly when connecting to the

Controller.

Item Specification

AC power wire (2 cables)

Ground wire Green / Yellow

Cable length 3 m

or Black, White

RC700 / RC700-A Rev.23 29

Safety 3. Installation

Make sure that the power to the Control disconnected disconnecting result in

Be sure to connect th cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact or contact failure is extremely hazardous and may result in electric shock and/or improper function of the system.

The serial number of the Manipulator that should be connected is indicated on the Connection Check Label Manipulator correctly. Manipulator may cause not only improper function of the robot system but also safety problems.

Before connecting the connector, make sure Connecting with malfunction of

3.4 Cable Connection

WARNING

CAUTION

■ before connecting or disconnecting any cables. Connecting or

any cables with the power ON is extremely hazardous and may

electric shock and malfunction of the Controller.

■

the robot system.

e cables properly. Do not allow unnecessary strain on the

on the Controller. Connect the Controller and the

Improper connection between the Controller and the

the pins bent may damage the connector and result in

ler is turned OFF and the power plug is

failure. Damaged cables, disconnection,

that the pins are not bent.

30 RC700 / RC700-A Rev.23

Safety 3. Installation

Manipulator

(6) USB Memory

PC for Development

Input/Output Device

Connect by (5) or (7)

Input/Output Device

Controller

(1) AC Power Connector

(2) M/C Power Connector

(3) M/C Signal Connector

(4) EMERGENCY Connector

(5) Development PC Connection Port

AC200V-240V

(7) LAN (Ethernet Communication)

(8) I/O Connector

(9) TP Connector

(10) Standard RS-232C Connector

Emergency Stop Safety Door, etc.

Teach

Pendant

Option

FieldBus I/O Expansion I/O RS-232C PG board Analog I/O EUROMAP67 Force Sensor I/F Board

Detachable

connector

Cable attached at shipping

Cable prepared by users

(11) R-I/O Connector

3.4.1 Typical Cable Connection

RC700 / RC700-A Rev.23 31

Safety 3. Installation

(1)

AC Power Connector

(2)

M/C Power cable

(3)

M/C Signal cable

(4)

EMERGENCY

(5)

PC for development

(6)

USB memory

(7)

LAN (EtherNet Communication)

(8)

I/O connector

(9)

TP cable

(10)

Standard RS-232C port

(11)

R-I/O Connector

This connector is used for connecting with input signals necessary for real time I/O

For details, refer to the Setup & Operation 13. R-I/O Connector.

Connector for 200VAC power input to the Controller.

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”.

The cable with connector on the Controller side.

Connect the Manipulator and the M/C SIGNAL connector on the Controller.

The EMERGENCY connector has inputs to connect the Emergency Stop switch

and the Safety Door switch. For safety reasons, connect proper switches for these

input devices.

For details, refer to the Setup & Operation 9. EMERGENCY.

Connect the PC for development.

For details, refer to the Setup & Operation 5. Development PC Connection USB

Port.

Connect the USB memory.

For details, refer to the Setup & Operation 6. Memory Port.

Connect the EtherNet cable.

For details, refer to the Setup & Operation 7. LAN (Ethernet Communication) Port.

This connector is used for input/output devices of the user.

When there are input/output devices, use this connector.

There are I/O cable (option) and terminal block (option) for the I/O connector.

For details, refer to the Setup & Operation 11. I/O Connector.

Connect the option Teach Pendant.

For details, refer to the Setup & Operation 8.TP Port.

This port is used for the RS-232C communication with external devices.

For details, refer to Setup & Operation 10. Standard RS-232C Port.

function.

32 RC700 / RC700-A Rev.23

Safety 3. Installation

Make sure that the power to the Control disconnecting any cables. power ON ma

Be sure to connect the cables properly. Do cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cable or contact failure is extremely hazardous and may result in electric shock and/or improper function of the system.

When connecting the numbers on each equipment match. Improper connection between the Manipulator and Controller may not only cause improper function of the robot system but also serious safety problems. The connection Controller used. For details on the connection, refer to the Controller manual.

NOTE

3.4.2 Connecting Manipulator to Controller

Connect the Manipulator to the Controller by using the Power cable and the Signal cable.

WARNING

CAUTION

■

ler is turned OFF before connecting or

Connecting or disconnecting any cables with the

is extremely hazardous and may result in electric shock and

lfunction of the Controller.

■

not allow unnecessary strain on the

s, disconnection,

■ on the Controller. Connect the Controller and the

Improper connection between the Controller and the

■

Manipulator to the Controller, make sure that the serial

method varies with the

The

configuration data for the Manipulator and Manipulator model are stored in the Controller.

Therefore the Controller should be connected to the Manipulator whose serial number is

specified in the Connection Check label attached on the front of the Controller.

The Manipulator’s serial number is indicated on the signature label on the back of the

Manipulator.

RC700 / RC700-A Rev.23 33

Safety 3. Installation

Do not run AC power lines and DC power lines in

. For example, separate the AC motor

from the sensor or valve I/O lines; and do

t bundle both sets of wiring with the same cable

other, they should cross perpendicularly. The

preferable example is shown in the right figure.

AC Line duct DC line duct

As far as possible

3.5 Noise Countermeasures

To minimize electrical noise conditions, the following items must be observed in the system’s

cable wiring:

To minimize electrical noise condition, be sure of followings for wiring.

- The earth wire of the power supply should be grounded. (Ground resistance: 100 Ω or

less) It is important to ground the frame of Controller not only for prevention from

electric shock, but also for reducing the influence of electric noise around the

Controller. Therefore, be sure to connect the earth wire (yellow/green) of the

Controller’s power cable to the ground terminal of the factory power supply. For

details about the plug and AC power cable, refer to the Setup & Operation 3.3 Power

Supply.

- Do not tap power from a power line that connects to any equipment which may cause

noise.

- When you tap power for the Controller and the single-phase AC motor from the same

power line, change the phase of one or the other. Ensure that they will not be the

same phase.

- Use a twisted pair motor power line.

the same wiring duct, and separate them as far as

possible

power line and the Controller power line as far as

possible

tie. If more than one duct/cable must cross each

- Wire as short as possible to the I/O connector and EMERGENCY connector. Use a

shielded cable and clamp the shield to the attached connector interior. Make sure to

keep away from the peripheral noise source as far as possible.

- Make sure that the induction elements used to connect to the Controller’s I/O (such as

relays and solenoid valves) are noise suppression parts. If an induction element

without protection against noise is used, make sure to connect a noise suppression part

such as a diode located at the induction element in parallel with it. In selecting noise

suppression parts, make sure that they can handle the voltage and current incurred by

the induction load.

- To start and change revolutions of the conveyer’s (or the like’s) AC motor (ex: an

induction motor or three-phase induction motor) regularly or abruptly, make sure to

install a spark suppressor between the wires. The spark suppressor is more effective

when placed closer to the motor.

- As they are easily influenced by noise, keep cable such as USB, Ethernet, RS-232C, or

fieldbus away from peripheral noise sources.

34 RC700 / RC700-A Rev.23

Safety 4. Operation Mode (TEACH/AUTO/TEST)

This mode enables point data teaching and checking close to the

This mode enables automatic operation (program execution) of the

manufacturing operation, and also

programming, debug, adjustment, and maintenance of the Robot

This mode cannot operate the Robots or run programs with the Safety Door open.

TEST mode

This is a low speed program verification function (T1: manual

task /

single-task, multi-manipulator / single-manipulator at low speed.

verification in a high speed is

single-task, multi-manipulator / single-manipulator at high speed.

NOTE

4. Operation Mode (TEACH/AUTO/TEST)

4.1 Overview

The Robot system has three operation modes.

TEACH mode

Robot using the Teach Pendant. In this mode the Robot operates in Low power status.

AUTO mode

Robot system for the

system.

(T1)

This mode enables program verification while the Enable Switch is

held down and the safeguard is open.

deceleration mode) which is defined in Safety Standards.

This mode can operate the specified Function with multi-

(T2)

This mode enables program verification while the Enable Switch is

RC700-A

option

TP3 only

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

held down and the safeguard (including the safety door) is open.

Unlike the TEST/T1, the program

available in this mode.

In this mode, the specified Function can be executed with multi-task /

RC700 / RC700-A Rev.23 35

Safety 4. Operation Mode (TEACH/AUTO/TEST)

Pauses the executing program when operation mode is switched to

TEST mode

mode.

[Test Mode] in [Jog & Teach] dialog of TEACH

mode. The mode will be changed to TEST.

“TEACH” mode. Tap the [Test] tab to change the mode to T1.

“TEACH” mode. Tap the [Test] tab to change the mode to T2.

NOTE

4.2 Switch Operation Mode

Change the operation mode using the mode selector key switch on the Teach Pendant.

To change to TEST operation mode:

TP1, TP2 : Push the function key in TEACH mode.

TP3 : Tap the [Test] tab on the touch panel in TEACH mode.

TEACH mode

Turn the mode selector key switch to “TEACH” for TEACH mode.

TEACH mode.

The operating Robot stops by Quick Pause.

AUTO mode

Turn the mode selector key switch to “AUTO” and change the latch

release input signal to ON position for AUTO mode.

TP1, TP2

Turn the mode selector key switch to “TEACH” for “TEACH”

Push <F1> key-

TP3

T1 Turn the mode selector key switch to “TEACH/T1” for

T2 Turn the mode selector key switch to “TEACH/T2” for

The TEACH mode status is latched by software.

To switch the mode from TEACH to AUTO, release the latched condition using the latch

release input.

For details on how to release latch, refer to Setup & Operation

Latch Release Switch

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

9.1 Safety Door Switch and

36 RC700 / RC700-A Rev.23

(2) (5)

(3)

(4)

4.3 Program Mode (AUTO)

4.3.1 What is Program Mode (AUTO)?

Program mode is for programming, debug, adjustment, and 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.

Safety 4. Operation Mode (TEACH/AUTO/TEST)

(2) Select [Startup]-[Start mode].

(3) Select <Program> button.

(4) Click the <Apply> button.

(5) Click the <Close> button.

RC700 / RC700-A Rev.23 37

Safety 4. Operation Mode (TEACH/AUTO/TEST)

(2) (5)

(3)

(4)

NOTE

4.4 Auto Mode (AUTO)

4.4.1 What is Auto mode (AUTO)?

Auto mode (AUTO) is for automatic operation of the Robot system.

Procedures for switching to the Auto mode (AUTO) are the followings.

A : Set the start mode of the EPSON RC+ to “Auto” and start the EPSON RC+.

(Refer to Setup & Operation 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 Setup & Operation 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) Select [Startup]-[Start Mode].

(3) Select <Auto> button.

(4) Click the <Apply> button.

(5) Click the <Close> button.

38 RC700 / RC700-A Rev.23

Safety 4. Operation Mode (TEACH/AUTO/TEST)

(2) (5)

(3)

(4)

4.4.3 Setup from Control Device

Set the control device from EPSON RC+.

(1) Select EPSON RC+ menu-[Setup]-[System Configuration] to display the [System

Configuration] dialog.

(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.

RC700 / RC700-A Rev.23 39

Setup & Operation 5. Development PC Connection USB Port

Development PC connection USB Port

NOTE

5. Development PC Connection USB Port

Development PC connection USB port (USB B series connector)

For other details of development PC and Controller connection, refer to EPSON RC+ 7.0

User’s Guide 5.12.1 PC to Controller Communications Command.

For RC700 / RC700-A, be sure to install the EPSON RC+ 7.0 to the development PC first,

then connect the development PC and

RC700 / RC700-A and the development PC are connected without installing the EPSON

RC+ 7.0 to the development PC, [Add New Hardware Wizard] appears. If this wizard

appears, click the <Cancel> button.

5.1 About Development PC Connection USB Port

RC700 / RC700-A with the USB cable.

(Figure: RC700)

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 robot system

or set the Controller configuration with the EPSON RC+ 7.0 software installed in the

development PC.

Development PC connection port supports hot plug feature. Cables insert and remove from the development PC and the Controller is available when the power is ON. However, stop occurs when USB cable is removed from the Controller or the development PC during connection.

5.2 Precaution

When connecting the development PC and the Controller, make sure of the following:

- Connect the development PC and the Controller with a 5 m or less USB cable.

Do not use the USB hub or extension cable.

- Make sure that no other devices except the development PC are used for development

PC connection port.

- Use a PC and USB cable that supports USB2.0 HighSpeed mode to operate in USB2.0

HighSpeed mode.

- Do not pull or bend the cable strongly.

- Do not allow unnecessary strain on the cable.

40 RC700 / RC700-A Rev.23

Setup & Operation 5. Development PC Connection USB Port

- 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

the development PC.

(Install the software when it is not installed.)

(2) Connect the development PC and the Controller using a USB cable.

(3) Turn ON the Controller.

(4) Start 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.

(6) Select “No.1 USB” and click the <Connect> button.

(7) After the development PC and the Controller connection has completed, “Connected”

is displayed at [Connection status]. Make sure that “Connected” is displayed and

click the <Close> button to close the [PC to Controller Communications] dialog.

The connection between the development PC and the Controller is completed. Now the

robot system can be used from EPSON RC+ 7.0.

RC700 / RC700-A Rev.23 41

Setup & Operation 5. Development PC Connection USB Port

Development PC connection USB Port

(Figure: RC700)

NOTE

5.4 Disconnection of Development PC and Controller

This section describes how to disconnect the development PC and the Controller

communication.

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[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

Communications] dialog before USB cable is removed.

5.5 How to Fix USB Cable

This section describes how to fix USB cables.

(1) Unscrew the screw below the USB port.

(2) Secure the fixing clamp (attached) using the screw in Step (1).

(3) Connect the USB cable to the USB port.

(4) Get an attached cable tie through a hole of the fixing clamp in Step (2) and fix the

USB cable.

(5) Adjust the length of the cable tie by cutting it.

42 RC700 / RC700-A Rev.23

6. Memory Port

■

Backup after starting the Controller. However, operations form the console including stop and pause are not while executing this function. Also, EPSON RC+ function when operating the robot.

Connect a commercial USB memory to the Controller memory port to use the Controller

backup function to the USB memory.

6.1 What is Backup Controller Function?

This function saves various kinds of Controller data to the USB memory with one push.

Data saved in the USB memory is loaded to EPSON RC+ 7.0 to get the status of the

Controller and the program simply and accurately.

The saved data can also be used for restoring the Controller.

6.2 Before Using Backup Controller Function

6.2.1 Precautions

Controller function is available at any time and in any Controller status

CAUTION

this function influences the robot cycle time and the communication with

7.0. Other than only when it is necessary, do not execute this

Setup & Operation 6. Memory Port

available

- 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 between the Controller and the USB memory is not assured.

- Insert and remove the USB memory slowly and surely.

- Do not edit the saved files by the editor. Operation of the robot system after data

restoration to the Controller is not assured.

6.2.2 Adoptable USB Memory

Use USB memory that meets following conditions.

- USB2.0 supported

- Without security function

USB memory with password input function cannot be used.

- No installation of a driver or software is necessary for Windows 7, Windows 8, or

Windows 10.

(For supported operating systems for the EPSON RC+ 7.0, refer to Setup & Operation 1.1

System Example.)

RC700 / RC700-A Rev.23 43

Setup & Operation 6. Memory Port

■

Controller status storage function is available at status after starting the Controller. However, operations form the console including stop and pause are not when executing this function. Also, this function EPSON RC+ 7.0. Do not execute this function while operating the robot except when it is necessary.

NOTE

6.3 Backup Controller Function

6.3.1 Backup Controller with Trigger Button

CAUTION

Use the following procedure to backup the Controller settings to USB memory.

(1) Insert the USB memory into the memory port.

(2) Wait approximately 10 seconds for USB memory recognition.

(3) Press the trigger button on the Controller.

influences the robot cycle time and the communication with the

any time and in any Controller

available

The seven-segment displays

transfer. Wait until the display returns back to the former display. (Transfer time

differs depending on the amount of data, such as the project size.)

(4) When the storage has been completed,

for two seconds.

When the storage has failed,

seconds.

(5) 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 store the status. Use

another USB memory or execute the storage during Motor OFF status.

and repeatedly during the data

is displayed on the seven-segment

is displayed on the seven-segment for two

6.3.2 Load Data with EPSON RC+ 7.0

The procedure to read the data stored in the USB memory by EPSON RC+ 7.0 and display

the Controller status is described in the following manual.

EPSON RC+ 7.0 User’s Guide 5.11.8 [Controller] Command (Tools Menu)

6.3.3 Transfer with E-mail

Follow this procedure to transfer the data by e-mail that was saved to the USB memory.

(1) Insert the USB memory to a PC that supports sending of e-mail.

(2) Make sure that the USB memory has following folders.

B_Controller type_serial number_backup date

→ Example: B_RC700_12345_2013-10-29-092951

(3) Compress the folders checked in Step (2), then send them by e-mail.

44 RC700 / RC700-A Rev.23

Delete files that do not relate to the project before transfer.

File Name

Outline

for restore

CurrentMnp01.PRM

Robot parameter

Saves information such as ToolSet.

CurrentStatus.txt

Save status

Saves program and I/O status.

ErrorHistory.csv

Error history

InitFileSrc.txt

Initial setting

Saves various settings of the Controller.

MCSys01.MCD

Robot setting

Saves information of connected robot.

information

Prg file is not included.

variables

VXDWORK.bin

information

the WorkQue.

Includes program files.

NOTE

This function is used to send the data to the system director and EPSON from the end

users for problem analysis.

6.4 Details of Data

The following data files are created by the Controller backup function.

Setup & Operation 6. Memory Port

Backup.txt Information file

SrcmcStat.txt Hardware

File with information for Controller restore.

Saves installation information of hardware.

ProjectName.obj OBJ file Result of project build.

GlobalPreserves.dat Global Preserve

MCSRAM.bin

MCSYSTEMIO.bin

Inner information

of Robot operation

Saves values of Global Preserve variables.

MCTABLE.bin

MDATA.bin

SERVOSRAM.bin

WorkQueues.dat WorkQue

Saves information of Queues information of

All files related to

project except

ProjectName.obj *1

Project Select EPSON RC+ 7.0 menu-[Setup]-

[System Configuration] to display the

[System Configuration] dialog.

When [Include project files when status

exported] check box is checked in

[Controller]-[Preferences], the project file is

stored.

*1 Storage of “All files related to project except ProjectName.obj” can be specified by a

setting.

RC700 / RC700-A Rev.23 45

Setup & Operation 7. LAN (Ethernet Communication) Port

a LAN (Ethernet

RC700: DUOUT connector RC700-A: OUT connector

NOTE

7. LAN (Ethernet Communication) Port

- Refer to EPSON RC+ 7.0 User’s Guide 5.12.1 PC to Controller Communications

Command (Setup Menu) for other details for the development PC and Controller

connection.

- For Ethernet (TCP/IP) communication with robot application software, refer to EPSON

RC+ 7.0 Online Help or User’s Guide 14. TCP/IP Communications.

7.1 About the LAN (Ethernet Communication) Port

Ethernet communication port supports 100BASE-TX / 10 BASE-T.

This port is used for two different purposes.

Connection with development PC

LAN (Ethernet communication) port is used for 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 Setup & Operation 5. 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 from robot

application software.



RC700: DUOUT connector / RC700-A: OUT connector is not communication) port. Do not connect a cable.

CAUTION

(Figure: RC700)

7.2 IP Address

Set the proper IP address or subnet mask depending on the Controller and development PC

configuration to use the LAN port.

46 RC700 / RC700-A Rev.23

Do not input a random value for the IP address of the network configured TCP/IP. This

is the only address that specifies the computer using an Internet connection.

The IP address is assigned from the company or organization that has control of IP

address.

Setup & Operation 7. LAN (Ethernet Communication) Port

Use an address from the following Internet private environment such as P2P or line.

Make sure that the address is not redundantly assigned inside the closed network.

Private Address List

10.0.0.1 to 10.255.255.254

172.16.0.1 to 172.31.255.254

192.168.0.1 to 192.168.255.254

The following is the 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 cable by

referring to Setup & Operation 5. Development PC Connection USB Port.

(2) Select the EPSON RC+ 7.0 menu-[Setup]-[Controller] to display the following dialog.

(3) Select [Controller]-[Configuration].

(4) Enter the proper IP address and subnet mask and click the <Apply> button.

(5) Click the <Close> button. The Controller reboots automatically.

IP address configuration is completed and the Controller reboot dialog disappears.

RC700 / RC700-A Rev.23 47

Setup & Operation 7. LAN (Ethernet Communication) Port

7.4 Connection of Development PC and Controller with

Ethernet

Connection between the development PC and the Controller is shown below.

(1) Connect the development PC and 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] specified in procedure (6) is displayed.

48 RC700 / RC700-A Rev.23

Setup & Operation 7. LAN (Ethernet Communication) Port

NOTE

(8) Make sure that “No.2” is selected, and click the <Connect> button.

(9) After the development PC and Controller connection is completed, “Connected” is

displayed in the [Connection status:]. Make sure that “Connected” is displayed and

click the <Close> button to close the [PC to Controller Communications] dialog.

Connection between the development PC and the Controller is complete. Now the robot

system can be used 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.

If the Ethernet cable is removed when the Controller and the development PC is connected,

Emergency Stop occurs and the Robot stops. Be sure to click the <Disconnect> button in

the [PC to Controller Communications] dialog before the Ethernet cable is removed.

RC700 / RC700-A Rev.23 49

Setup & Operation 8. TP Port

NOTE

8. TP Port

8.1 What is the TP Port?

The TP port connects the Teach Pendant TP1, TP2, and TP3* to the Controller.

When connecting TP1 and TP2 to RC700-A, the RC700-A conversion cable is necessary.

If you need the conversion cable, please contact the supplier of your region.

* RC700-A TP Exchange Cable : R12NZ900L6

TP3 cannot be connected to RC700.

RC700

RC700-A

When nothing is connected to the TP port, Emergency Stop status occurs in the Controller.

When the Teach Pendant is not connected, connect the TP bypass plug.

Do not connect the following devices to the TP port of / RC700-A. Connecting these

devices may result in malfunction of the device since the pin assignments are different.

OPTIONAL DEVICE dummy plug Operation Pendant OP500 Operator Pendant OP500RC Jog Pad JP500 Teaching Pendant TP-3** Operator Panel OP1

50 RC700 / RC700-A Rev.23

8.2 Teach Pendant Connection

NOTE

A cable for connection to the RC700 / RC700-A Controller is attached to the Teach

Pendant. Connect this cable connector to the TP/OP port.

Communication is set automatically. Enable the Teach Pendant by one of the following

procedures.

- Insert the Teach Pendant connector to the Controller and turn ON the Controller.

- Insert the Teach Pendant connector while the Controller is turned ON.

Teach Pendant connection and disconnection from the Controller are allowed when the

Controller power is ON.

When the Teach 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.

For details, refer to the following manuals:

Robot Controller RC700/RC90 Option Teach Pendant TP1

Robot Controller RC700/RC90 Option Teach Pendant TP2

Robot Controller RC700-A Option Teach Pendant TP3

Setup & Operation 8. TP Port

RC700 / RC700-A Rev.23 51

Setup & Operation 9. EMERGENCY

CAUTION

■

M the system, not only when setting up the system, but also when the use environment is changed

CAUTION

■

Before connecting the connector, make sure

the pins are not bent.

Connecting with

connector and result in

malfunction of

EMERGENCY Connector

Connector

Standard

EMERGENCY connector

D-sub 25 male pin

NOTE

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.

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

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.

that

the pins bent may damage the

the robot system.

(Figure: RC700)

9.1 Safety Door Switch and Latch Release Switch

The EMERGENCY connector has input terminals for the Safety Door switch and the

Emergency Stop switch. Be sure to use these input terminals to keep the system safe.

(Controller side)

* The E-STOP BOX, EMERGENCY connector cable, terminal block, and EMERGENCY

connector kit are offered as options.

Mounting style #4 - 40

52 RC700 / RC700-A Rev.23

9.1.1 Safety Door Switch

The interlock of the Safety Door must be functioning when the operated. be turned ON/OFF (e.g. The tape is put around the switch.). Operating the robot system when the switch is not may intended function

NOTE

Setup & Operation 9. EMERGENCY

WARNING

■

robot system is

Do not operate the system under the condition that the switch cannot

functioning properly is extremely hazardous and

cause serious safety problems as the Safety Door input cannot fulfill its

In order to maintain a safe working zone, a safeguard must be erected around the

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 program or

the operation-prohibited status that are activated whenever the Safety Door is opened.

Observe the followings in designing 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 recognizes it to be a critical error. Therefore, make sure that the Safety Door

switch has two separate redundant circuits and that each connects to the specified pins

at the EMERGENCY connector on the Controller.

- The Safety Door must be designed and installed so that it does not close accidentally.

9.1.2 Latch Release Switch

The controller software latches these conditions:

- The safety door is open.

- The operation mode is set to “TEACH”.

The EMERGENCY connector has an input terminal for a latch release switch that cancels

the latched conditions.

Open : The latch release switch latches conditions that the safety door is open or the

operation mode is “TEACH”.

Closed : The latch release switch releases the latched conditions.

When the latched TEACH mode is released while the safety door is open, the status of

Manipulator power is operation-prohibited because the safety door is open at that time.

To execute a Manipulator operation, close the safety door again, and then close the latch

release input.

RC700 / RC700-A Rev.23 53

Setup & Operation 9. EMERGENCY

NOTE

9.1.3 Checking Latch Release Switch Operation

After connecting the safety door switch and latch release switch to the EMERGENCY

connector, 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 “Safety” is dimmed on the status bar.

The information that the safety door is open can be latched by software based on the latch

release input condition. To cancel the condition, close the safety door, and then close the

safety door latch release input.

Open : The latch release switch latches the condition that the safety door is open.

Closed : The latch release switch does not latch the condition that the safety door is open.

The latch release input also functions to acknowledge the change of to TEACH mode.

In order to change the latched condition of TEACH mode, turn the mode selector key

switch on the Teach Pendant to “Auto”. Then, close the latch release input.

54 RC700 / RC700-A Rev.23

9.2 Emergency Stop Switch Connection

NOTE

9.2.1 Emergency Stop Switch

If it is desired to add an external Emergency Stop switch(es) in addition to the Emergency

Stop on the Teach Pendant and Operator Panel, be sure to connect such Emergency Stop

switch(es) to the Emergency Stop input terminal on the EMERGENCY connector.

The Emergency Stop switch connected must comply with the related safety standards

(such as

- It must be a push button switch that is “normally closed”.

- A button that does not automatically return or resume.

- The button must be mushroom-shaped and red.

- The button must have a double contact that is “normally closed”.

The signal from the Emergency Stop switch is designed to use two redundant circuits.

If the signals at the two circuits differ by two seconds or more, the system recognizes it as

a critical error. Therefore, make sure that the Emergency Stop switch has double

contacts and that each circuit connects to the specified pins on the EMERGENCY

connector at the Controller. Refer to the Setup & Operation 9.4 Circuit Diagrams.

IEC60947-5-5) and the following:

9.2.2 Checking Emergency Stop Switch Operation

Setup & Operation 9. EMERGENCY

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 safety

of the operator, the Manipulator must not be powered ON until the following test is

completed.

(1) Turn ON the Controller to boot the controller software while pressing the Emergency

Stop switch.

(2) Make sure that E-STOP LED of the controller is lighting.

(3) Make sure that “EStop” is displayed on the status bar on the main window.

(4) Release the Emergency Stop Switch.

(5) Execute the RESET command.

(6) Make sure that E-STOP LED is turned OFF and that “EStop” is dimmed on the main

window status bar.

9.2.3 Recovery from Emergency Stop

To recover from the emergency stop condition, follow the procedure of safety check as

required by the system.

After safety check, the operations below are required to recover from the emergency stop

condition.

- Release the Emergency Stop Switch

- Execute the RESET command

RC700 / RC700-A Rev.23 55

Setup & Operation 9. EMERGENCY

Emergency Stop switch output rated load

+30 V 0.3 A or under

1-2, 14-15 pin

purposes.

Do not apply reverse voltage to the Emergency Stop circuit. Doing so may

NOTE

9.3 Pin Assignments

The EMERGENCY connector pin assignments are as follows:

Pin No. Signal Function Pin No. Signal Function

1 ESW11 Emergency Stop switch contact (1) *3 14 ESW21 Emergency Stop switch contact (2) *3

2 ESW12 Emergency Stop switch contact (1) *3 15 ESW22 Emergency Stop switch contact (2) *3

3 ESTOP1+ Emergency Stop circuit 1 (+) *4 16 ESTOP2+ Emergency Stop circuit 2 (+) *4

ESTOP1−

5 Not Used *1 18 SDLATCH1 Safety Door Latch Release

6 Not Used *1 19 SDLATCH2 Safety Door Latch Release

7 SD11 Safety Door input (1) *2 20 SD21 Safety Door input (2) *2

8 SD12 Safety Door input (1) *2 21 SD22 Safety Door input (2) *2

9 24V +24V output 22 24V +24V output

10 24V +24V output 23 24V +24V output

11 24VGND +24V GND output 24 24VGND +24V GND output

12 24VGND +24V GND output 25 24VGND +24V GND output

13 Not Used

Emergency Stop circuit 1 (

) *4

ESTOP2−

Emergency Stop circuit 2 (-) *4

*1 Do not connect anything to these pins.

*2 A critical error occurs if the input values from 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 to the Emergency Stop circuit.

Emergency Stop rated input voltage range Emergency Stop rated input current

Safety Door rated input voltage range Safety Door rated input current

Latch Release rated input voltage range Latch Release rated input current

The total electrical resistance of the Emergency Stop switches and their circuit should be 1

Ω or less.

+24 V ±10%

37.5 mA ±10% /+24 V input

+24 V ±10% 10 mA/+24 V input

3-4, 16-17 pin

7-8, 20-21 pin

18-19 pin



The 24 V output is for emergency stop. Do not use it for other Doing so may result in system malfunction.



CAUTION

result in system malfunction.

56 RC700 / RC700-A Rev.23

+24V

+5V

Safety Door input 1

External +24V

Safety Door input 2

Latch release input

Latch release input Close :Latch off

Open :Latch on

Main Circuit

Control

AC Input

Emergency Stop switch of an Operation Unit (TP)

External +24V GND

External Emergency

Stop switches

Motor Driver

−

Controller

Emergency

Stop detection

NOTE:+24V GND

+ 5V GND

ESTOP1+

ESTOP2+

ESTOP1−

ESTOP2

−

Be careful of the direction of voltage application

Setup & Operation 9. EMERGENCY

9.4 Circuit Diagrams

9.4.1 Example 1: External emergency stop switch typical application

RC700 / RC700-A Rev.23 57

* For the protection of the

emergency stop circuit, the fuse’s capacity should be as follows:

- Meets the capacity of the external safety relay

- 0.4A or less

External safety relay

(The above diagram

is simplified for representation.)

External +24V GND

+24V

+5V

Safety Door input 1

Safety Door input 2

Latch Release input

AC Input

Motor Driver

External +24V

Fuse

−

External +24V

Controller

Main Circuit

Control

Emergency Stop switch of an Operation Unit (TP)

Emergency

Stop detection

External +24V

Latch release input Close :Latch off

Open :Latch on

External +24V GND

NOTE:+24V GND

+ 5V GND

External +24V GND

Setup & Operation 9. EMERGENCY

9.4.2 Example 2: External safety relay typical application

58 RC700 / RC700-A Rev.23

Setup & Operation 10. Standard RS-232C Port

Port No.

Supported hardware

Standard RS-232C connector

First expansion RS-232C board CH1

Second expansion RS-232C board CH1

10. Standard RS-232C Port

10.1 RS-232C Port

A standard RS-232C port is available with the Controller.

Mount the RS-232C board(s) in the option slot to communicate with external equipment

with two or more RS-232C ports.

For the details of the expansion port, refer to Setup & Operation 14.4 RS-232C Board.

Port numbers are assigned as follows.

#3 First expansion RS-232C board CH2

#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. Correct identification can be confirmed from EPSON RC+ 7.0.

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the

[System Configuration] dialog.

(2) Select the [RS232]-[CU].

RC700 / RC700-A Rev.23 59

Setup & Operation 10. Standard RS-232C Port

Item

Specification

14400, 19200, 38400, 57600, 115200

Data bit length

7, 8

Stop bit length

1, 2

Parity

Odd, even, NA

Terminator

CR, LF, CRLF

Connector

Standard

Pin No

Signal

Function

Signal Direction

NOTE

10.3 RS-232C Software Communication Setup (RS-232C)

Available communication settings are as follows.

Baud Rates 110, 300, 600, 1200, 2400, 4800, 9600,

Refer to EPSON RC+ 7.0 Online Help or Users Guide – 13. RS-232C Communications for

RS-232C communication from the Robot application.

10.4 Communication Cable (RS-232C)

Prepare a communication cable as described in this section.

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.

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 Ring indicator Input

RS-232C Connector

(Controller side)

D-sub 9 male pin

Mounting style #4 - 40

60 RC700 / RC700-A Rev.23

Pins

Bit number

Input

0 to 23

Output

0 to 15

Input

32 to 55

Output

32 to 47

Input

256 to 279

Output

256 to 271

Input

288 to 311

Output

288 to 303

11. I/O Connector

The I/O connector is for connecting your input/output equipment to the system.

Control Unit

Drive Unit 1

Drive Unit 2

Drive Unit 3

Refer to Setup & Operation 14.2. Expansion I/O board.

For cable wiring, refer to the Setup & Operation 3.5 Noise Countermeasures in order to

prevent noise.

Remote function is initially assigned to both input and output from 0 to 7. For further

details, refer to Setup & Operation 12. I/O Remote Settings.

11.1 Input Circuit

Input Voltage Range : +12 to 24 V ±10%

Setup & Operation 11. I/O Connector

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 photo coupler in the input

circuit.

RC700 / RC700-A Rev.23 61

Setup & Operation 11. I/O Connector

1 Input No.0 to 7 common

2 Input No.0

3 Input No.1

4 Input No.2

5 Input No.3

6 Input No.

7 Input No.5

8 Input No.6

9 Input No.7

I/O-1

(Same)

Omit

GND +DC

18 Input No.8 to 15 common 19 Input No.8

20 Input No.9

(Same)

Typical Input Circuit Application 1

62 RC700 / RC700-A Rev.23

Setup & Operation 11. I/O Connector

1 Input No.0 to 7 common

2 Input No.0

3 Input No.1

4 Input No.2

5 Input No.3

6 Input No.

7 Input No.5

8 Input No.6

9 Input No.7

I/O-1

(Same)

Omit

GND +DC

Input No.8 to 15 common

19 Input No.8

20 Input No.9

(Same)

Typical Input Circuit Application 2

RC700 / RC700-A Rev.23 63

Setup & Operation 11. I/O Connector

10 Output No.0

I/O-1

(Same)

Omit

+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 to 7 common (GND)

Load

GND

33 Output No.8 to 15 common (GND)

(Same)

11.2 Output Circuit

Rated Output Voltage : +12 V to 24 V ±10%

Maximum Output Current : TYP 100 mA/1 output

Output Driver : PhotoMOS Relay

On-State Resistance (average) : 23.5 Ω or less

Two types of wiring are available for use with the nonpolar PhotoMOS relay in the output

circuit.

Typical Output Circuit Application 1

64 RC700 / RC700-A Rev.23

Setup & Operation 11. I/O Connector

10 Output No.0

I/O-1

(Same)

Omit

+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 to 7 common (+DC)

Load

GND

33 Output No.8 to 15 common (+DC)

(Same)

Typical Output Circuit Application 2

RC700 / RC700-A Rev.23 65

Setup & Operation 11. I/O Connector

No.

Connector

Standard

11.3 Pin Assignments

Signal Name

1 Input common No. 0 to 7 18 Input common No. 8 to 15 34 Input common No. 16 to 23

2 Input No. 0 (Start) 19 Input No. 8 35 Input No. 16

3 Input No. 1 (SelProg1) 20 Input No. 9 36 Input No. 17

4 Input No. 2 (SelProg2) 21 Input No. 10 37 Input No. 18

5 Input No. 3 (SelProg4) 22 Input No. 11 38 Input No. 19

6 Input No. 4 (Stop) 23 Input No. 12 39 Input No. 20

7 Input No. 5 (Pause) 24 Input No. 13 40 Input No. 21

8 Input No. 6 (Continue) 25 Input No. 14 41 Input No. 22

9 Input No. 7 (Reset) 26 Input No. 15 42 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 45 Output No.13

13 Output No. 3 (Error) 30 Output No. 9 46 Output No.14

14 Output No. 4 (EstopOn) 31 Output No.10 47 Output No.15

15 Output No. 5 (SafeguardOn) 32 Not Used 48 Not Used

Not Used

Signal Name

Output common No. 8 to 15

Signal Name

Not Used

17 Output common No. 0 to 7 50 Not Used

Remote function inside ( ) in the table above is initially assigned to both input and output from 0 to 7. For

further details, refer to 12. I/O Remote Settings.

I/O Connector (Controller side)

* The I/O connector, I/O cable, and terminal block are offered as options.

* I/O connector is included with shipment.

D-sub 50 male pin

Mounting style #4 - 40

66 RC700 / RC700-A Rev.23

When using remote I/O, always make sure of the following system under and/or safety problems.

NOTE

12. I/O Remote Settings

This section describes the functions and timings of input and output signals.

The remote functions may be assigned to your standard I/O board(s), expansion I/O

board(s), or fieldbus I/O board(s) to enhance robot system control - either from an

operational unit of your choice or a sequencer.

Remote function is initially assigned to both input and output from 0 to 7.

To accept external remote inputs, assign the remote function and the control device is

remote.

The user defines the I/O number that a remote function is assigned to using software

configuration.

For details about communication with external equipment, refer to EPSON RC+ 7.0

User’s Guide – 12. Remote Control.

Setup & Operation 12. I/O Remote Settings

■

- Assign remote functions to inputs/outputs correctly and wire correctly when setting up remote I/O signals.

CAUTION

- Make sure that the functions correspond to the correct input/output signals before turning ON the system.

- When verifying the robot system operation, prepare for failures with initial settings or wiring. If the Manipulator functions unusually by the failures with initial settings or wiring, press the Emergency Stop switch immediately to stop the Manipulator.

Remote function is available when virtual I/O is enabled.

When you set up a remote I/O signal, please either keep a written record of the settings or

store the data in a file for later reference.

When you set up a fieldbus I/O signal to the remote function, response depends on the

baud rate of the fieldbus. For details of fieldbus response, refer to the following manual:

Robot Controller RC700/RC90 option Fieldbus I/O

s. Using the robot

unsatisfactory conditions may cause malfunction of the system

RC700 / RC700-A Rev.23 67

Setup & Operation 12. I/O Remote Settings

Name

Default

Description

Input Acceptance Condition (*1)

Ready output ON

Stop input OFF

SelProg8

Not Set

SelProg32

Not Set

Paused output ON

Stop

Reset

Ready output ON

Shutdown

Not Set

Terminates the system.

Operates as the forced low power

Stops or temporarily stops all the tasks and commands. (*12)

NOTE

12.1 I/O Signal Description

Remote function is initially assigned to both input and output from 0 to 7.

To change the function assignment from the initial setting, use EPSON RC+ 7.0.

To use all signals, you will need to add Expansion I/O or Fieldbus I/O board(s).

12.1.1 Remote Input Signals

Remote inputs are used to control the Manipulators and start programs. Certain

conditions must be met before inputs are enabled, as shown in the table below.

To accept external remote inputs, assign the remote function and set remote to the control

device. When external remote input is available, “AutoMode output” turns ON.

Except “SelProg”, the signals execute each function when the signal starts in input

acceptance condition. The function executes automatically. Therefore, no special

programming is needed.

When an error occurs, you must execute a “Reset” to clear the error condition before any

other 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.

Start 0

SelProg1

SelProg2

SelProg4

SelProg16

Not Set

Stop 4 All tasks and commands are stopped.

Pause 5

Continue 6 Continue the paused task.

ForcePowerLow

Not Set

Execute function selected at SelProg. (*2)

Specify the executing Main function number. (*2)

All tasks are paused. (*3)

Reset emergency stop and error. (*4)

function. The robot is operated in the low power mode. Power High control from the command is not accepted. Executes the following according to the controller preferences.

Error output OFF EStopOn output SafeguardOn output

input OFF

Pause

OFF

Running output ON

Pause input OFF

input OFF

Any time

This input is acceptable even

AutoMode output is OFF.

68 RC700 / RC700-A Rev.23

Setup & Operation 12. I/O Remote Settings

Name

Default

Description

Input Acceptance Condition (*1)

Changes the output condition of

MCalReqd. (*9)

SelRobot1

SelRobot16

Ready output ON

SetMotorOff input OFF

SetMotorOff

Ready output ON

SetPowerLow input OFF

Set the robot power mode to Low. (*5)

Ready output ON

Stop input OFF

Ready output ON

Stop input OFF

Paused output ON

Stop input OFF

Not Set

Cancel the alarm (*11)

SelAlarm1

SelAlarm8

Input signal for alive monitoring of

Same signal as the

The master equipment can perform

switching the input periodically and checking the output signal.

SelRobot

SelRobot2 SelRobot4 SelRobot8

SetMotorOn

SetPowerHigh

SetPowerLow

Home

Not Set

MotorsOn, AtHome, PowerHigh, and

Specify the number of robot which executes a command. (*5)

Turn ON robot motors. (*5) (*6)

Not Set Turn OFF robot motors. (*5)

Not Set

Set the robot power mode to High (*5)

Move the Robot Arm to the home position defined by the user.

EStopOn output OFF SafeguardOn output

OFF

EStopOn output OFF SafeguardOn output OFF

Ready output ON

Error output OFF EStopOn output SafeguardOn output

OFF

MotorsOn output ON

input OFF

Pause

MCal

Recover

Not Set

ResetAlarm

SelAlarm2 SelAlarm4

Not Set

ALIVE Not Set

Execute MCal (*5) (*7)

After the safeguard is closed, recover to the position where the safeguard is open.

Specify the alarm number to cancel (*10)

the controller. input will be output to ALIVE output.

alive monitoring of the controller by

Error output OFF EStopOn output OFF SafeguardOn output OFF MotorsOn output ON Pause input OFF

Error output OFF EStopOn output OFF SafeguardOn output OFF RecoverReqd output ON Pause input OFF

RC700 / RC700-A Rev.23 69

Setup & Operation 12. I/O Remote Settings

Function

SelProg1

SelProg2

SelProg4

SelProg8

SelProg16

SelProg32

Main

0 0 0 0 0

Main1

1 0 0 0 0 0 Main2

0 1 0 0 0

Main3

1 1 0 0 0

. . .

Main60

0 0 1 1 1 1 Main61

1 0 1 1 1 1 Main62

0 1 1 1 1

Main63

1 1 1 1 1

Robot number

SelRobot1

SelRobot2

SelRobot4

SelRobot8

SelRobot16

0(All)

0 0 0 0 0

1 1 0 0 0

2 0 1 0 0 0 3 1 1 0 0

. . .

13 1 0 1 1

14 0 1 1 1

15 1 1 1 1 0 16 0 0 0 0

(*1) “AutoMode output” ON is omitted from the table. This is an input acceptance condition for all

functions.

(*2) “Start input” executes Function specified by the following six bits: SelProg 1, 2, 4, 8, 16, and 32.

0=OFF, 1=ON

(*3) “NoPause task” and “NoEmgAbort task” do not pause.

For details, refer to EPSON RC+ 7.0 Online Help or Pause in SPEL

(*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) The values specified by “SelRobot1, 2, 4, 8, and 16” correspond to the robot numbers.

0=OFF, 1=ON

(*6) Initializes the robot parameter.

For details, refer to EPSON RC+ 7.0 Online Help or Motor in SPEL+ Language Reference.

(*7) For details, refer to EPSON RC+ 7.0 Online Help or MCal in SPEL+ Language Reference.

(*8) This is for experienced users only. Make sure that you fully understand the input specification before

using.

(*9) This function changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd.

output condition.

manipulators are selected as default.

70 RC700 / RC700-A Rev.23

CmdRunning output and CmdError output will not change for this input.

“NoEmgAbort task” will not stop by this input.

When the input changes from ON to OFF, all tasks and commands will stop.

By setting this signal with the condition selected using SelRobot1 - SelRobot16, you can switch the

Once you select the condition, it will be kept until you change it or turn off / restart the Controller. All

Setup & Operation 12. I/O Remote Settings

Alarm #

Target

SelAlarm1

SelAlarm2

SelAlarm4

SelAlarm8

Controller battery

1 0 0

Battery of the robot connected to DU1

0 0 1

Grease of the robot connected to DU1

1 0 1

Battery of the robot connected to DU2

0 1 1

Grease of the robot connected to DU2

1 1 1

Battery of the robot connected to DU3

0 0 0

Grease of the robot connected to DU3

1 0 0

All tasks and

commands

0 0 1→0

Stop

Low only

Not accept

0 1 0→1

Temp. stop

Low only

Not accept

1 0 1→0

Stop

Low only

Not accept

1 0 0→1

Stop

Low only

1 1 1→0

Temp. stop

Low only

Not accept 1 1

0→1

Continue

High/Low

(*10) The values specified by “SelAlarm1, 2, 4, and 8” correspond to the alarm numbers.

Battery of the robot connected to CU

Grease of the robot connected to CU

0 1 0 0

1 1 0 0

0=OFF, 1=ON

The following parts are subject to grease up.

6-axis robot: Bevel gear on the Joint #6

SCARA, RS series: Ball screw spline unit on the Joint # 3

(*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 by the setting

of the controller preferences.

Preferences (1): “Motor power low when ForcePowerLow signal OFF”

Preferences (2): “ForcePowerLow signal change pauses all tasks”

For details of the controller preferences, refer to EPSON RC+ 7.0 User’s Guide

[Setup]-[System Configuration]-[Controller]-[Preferences] in 5.12.2 [System Configuration] Command (Setup Menu).

Preferences (1) Preferences (2) ForcePowerLow

0 0 0→1 Stop Low only

0 1 1→0 Continue High/Low

Power mode PowerHigh

RC700 / RC700-A Rev.23 71

Setup & Operation 12. I/O Remote Settings

Name

Initial

Description

Turns ON when the controller startup completes and no

Turns ON when task is running. Paused

Turns ON when pause task exists.

Turns ON when an error occurs. EStopOn

Turns ON at Emergency Stop.

SafeguardOn

Turns ON when the safeguard is open.

Turns ON when critical error occurs.

does not

Turns ON when warning occurs.

sure to eliminate the cause of the warning as soon as 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 the robot hasn’t executed MCal. (*5)

Turns ON when at least one robot is waiting for Recover after the safeguard is closed.

RecoverInCycle

Not set

Turns ON when at least one robot is executing Recover.

CmdRunning

Not set

Turns ON when an input command is executing.

CmdError

Not set

Turns ON when an input command cannot be accepted.

CurrProg1

AutoMode

Not set

Turns ON in remote input acceptable status. (*2)

TeachMode

Not set

Turns ON in TEACH mode.

ErrorCode1

InsideBox1

InsidePlane1

Alarm

Not set

Turns ON when any of the alarms is occurring. (*9)

12.1.2 Remote Output Signals

Remote outputs provide status for the Manipulator and Controller.

Remote outputs provide the assigned function using with any control device. The outputs

execute automatically. Therefore, no special programming is needed.

Ready 0

Running 1

Error 3

SError 6

Warning 7

RecoverReqd

Not set

task is running.

However, turns OFF when “Paused output” is ON.

Use “Reset input” to recover from the error.

When a critical error occurs, “Reset input” function. Reboot the controller to recover.

The task runs as normal with the warning. However, be

possible.

CurrProg2 CurrProg4 CurrProg8

Not set

CurrProg16 CurrProg32

. . .

Not set

ErrorCode8192

. . .

InsideBox15

. . .

InsidePlane15

Not set

72 RC700 / RC700-A Rev.23

Indicates the running or the last main function number (*1)

Indicates the error number.

Turns ON when the robot is in the approach check area. (*3)

Turns ON when the robot is in the approach check plane. (*4)

Setup & Operation 12. I/O Remote Settings

Name

Initial

Description

Turns ON when a battery alarm of the controller is occurring.

Turns ON when a battery alarm of the robot connected to

Turns ON when a grease alarm of the robot connected to CU

Turns ON when a battery alarm of the robot connected to

Turns ON when a grease alarm of the robot connected to DU1 is occurring. (*10)

Turns ON when a battery alarm of the robot connected to

Turns ON when a grease alarm of the robot connected to

Turns ON when a battery alarm of the robot connected to

Turns ON when a grease alarm of the robot connected to DU3 is occurring. (*10)

Outputs current X coordinate in the World coordinate

Outputs current Y coordinate in the World coordinate

Outputs current Z coordinate in the World coordinate system

Outputs current U coordinate in the World coordinate system (*6) (*7)

Outputs current V coordinate in the World coordinate

Outputs current W coordinate in the World coordinate

Torque1

Not set

Outputs the current torque value of Joint #1 (*6) (*7)

Torque2

Not set

Outputs the current torque value of Joint #2 (*6) (*7)

Torque3

Not set

Outputs the current torque value of Joint #3 (*6) (*7)

Torque4

Not set

Outputs the current torque value of Joint #4 (*6) (*7)

Torque5

Not set

Outputs the current torque value of Joint #5 (*6) (*7)

Torque6

Not set

Outputs the current torque value of Joint #6 (*6) (*7)

CPU

Not set

Outputs the CPU load factor of the user program (*8)

Outputs how many times emergency stops have been

Output signal for alive monitoring of the controller. The

by switching the input periodically and checking the output signal.

Alarm1

Alarm2

Alarm3

Alarm4

Alarm5

Alarm6

Alarm7

Alarm8

Alarm9

Not set

PositionX Not set

PositionY Not set

PositionZ Not set

CU is occurring.

is occurring. (*10)

DU1 is occurring.

DU2 is occurring.

DU2 is occurring. (*10)

DU3 is occurring.

system (*6) (*7)

(*6) (*7)

PositionU Not set

PositionV Not set

PositionW Not set

ESTOP Not set

ALIVE Not set

system (*6) (*7)

executed.

signal input by ALIVE input will be output. The master equipment can perform alive monitoring of the controller

RC700 / RC700-A Rev.23 73

Setup & Operation 12. I/O Remote Settings

Function

CurrProg1

CurrProg2

CurrProg4

CurrProg8

CurrProg16

CurrProg32

Main

0 0 0 0 0

Main1

1 0 0 0 0

Main2

0 1 0 0 0

Main3

1 1 0 0 0

. .

Main60

0 0 1 1 1

Main61

1 0 1 1 1

Main62

0 1 1 1 1

Main63

1 1 1 1 1

(SelRobot1- SelRobot16) condition when inputting SelRobot

0: All robots are selected

1 - 16: Particular robot number is selected

Turns ON when at least one motor is ON.

Turns ON when the motor of the selected robot is ON.

Turns ON when all robots are in the home position.

Turns ON when the selected robot is in the home position.

Turns ON when at least one robot’s power mode is High.

Turns ON when the selected robot’s power mode is High.

Turns ON when at least one robot hasn’t executed MCal

Turns ON when the selected robot hasn’t executed MCal.

(*1) Outputs the current or the last function number of CurrProg1, 2, 4, 8, 16, or 32.

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

(*4) For details, refer to EPSON RC+ 7.0 Online Help or Plane in SPEL

Language Reference.

(*5) Manipulator status is output as follows, according to the condition selected in SelRobot.

Wait at least 40 ms before inputting the signal after changing the condition in SelRobot.

Name

MotorsOn

AtHome

PowerHigh

MCalReqd

(*6) Outputs information of the selected robot when SelRobot1, SelRobot2, SelRobot4, SelRobot8, and

SelRobot16 are set. If not, information of Robot 1 will be output.

(*7) Outputs information in Real format.

(*8) Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the

task manager.

(*9) The signal turns on when the alarm occurs either in the controller alarm information or the robot alarm

information.

(*10) The following parts are subject to grease up.

6-axis robot: Bevel gear on the Joint #6

SCARA, RS series: Ball screw spline unit on the Joint # 3

74 RC700 / RC700-A Rev.23

940

924

Depending on HOME motion

MotorsOn

Output

AtHome

Output

SetMotorsOn

Input

SetMotorsOff

Input

Home

Input

107

162

Ready

Output

CurrProg1

Output

Running

Output

* Paused

Output

SelProg1

Input

Start

Input

Pause

Input

Continue

Input

Stop

Input

162

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 well as

CPU speed of the Controller. Check carefully and refer to the following charts for the

timing interrelation when you enter an input signal.

During system design, make sure that you actuate only one remote input operation at a

time, otherwise an error will occur.

The pulse width of an input signal must be 25 or more milliseconds to be detected.

12.2.2 Timing Diagram for Operation Execution Sequence

Setup & Operation 12. I/O Remote Settings

[Unit: msec]

12.2.3 Timing Diagram for Program Execution Sequence

* The duration varies depending on the Quick Pause (QP) setting and the program’s

operating status at the time of Pause input [Unit: msec]

RC700 / RC700-A Rev.23 75

Setup & Operation 12. I/O Remote Settings

1052

500

928

Running

Output

Paused

Output

SafeguardOn

Output

MotorsOn

Output

Safety Input

Latch Input

Continue

Input

920

Running

Output

MotorsOn

Output

EStopOn

Output

Emergency Input

Reset

Input

12.2.4 Timing Diagram for Safety Door Input Sequence

12.2.5 Timing Diagram for Emergency Stop Sequence

[Unit: msec]

76 RC700 / RC700-A Rev.23

Pins

Bit number

Control Unit

Input

24, 25

Drive Unit 1

Input

56, 57

Drive Unit 2

Input

280, 281

Drive Unit 3

R-I/O

INPUT No.24-1

INPUT No.24-2

INPUT No.25-1

INPUT No.25-2

GND +24V

13. R-I/O Connector

The R-I/O connector is for connecting the input signals of the real time I/O function.

By inputting trigger signals to the R-I/O, you can keep and get the operating robot position

when trigger is detected. If you use this function with Vision, you can create an

application of parts pickup, alignment, and assembly by robots without stopping.

For details, refer to EPSON RC+7.0 Users Guide – 19. Real time I/O.

13.1 Input Circuit

Input Voltage Range : +24 V ±10%

Input Current : 10 mA (TYP) at +24 V input

Input

Setup & Operation 13. R-I/O Connector

2 312, 313

The following two types of wiring are available in the input circuit.

Typical Input Circuit Application 1

RC700 / RC700-A Rev.23 77

Setup & Operation 13. R-I/O Connector

R-I/O

INPUT No.24-1

INPUT No.24-2

INPUT No.25-1

INPUT No.25-2

GND +24V

Pin No.

Signal Name

INPUT No24-1

INPUT No25-2

Connector

Standard

use the

I/O connector without meeting the necessary conditions, it may cause the

Typical Input Circuit Application 2

13.2 Pin Assignments

10 INPUT No24-2

11 INPUT No25-1

1 to 8, 13 to 15* Not Used

* For the pins 1 to 8 and 13 to 15, do not connect anything.

R-I/O Connector (Controller side)

D-sub 15 male pin

Mounting style #4 - 40

When using R-I/O connector, be careful of the following points. If you



Rsystem failure and/or safety problems.

- Use a shielded cable and route the cables as far from the surrounding noise sources as possible.

CAUTION

For details, refer to Setup & Operation: 3.5 Noise Countermeasures.

- Make sure to check the cable routing before turning on the power supply.

78 RC700 / RC700-A Rev.23

14. Option Slots

14.1 About Option Slots

Use the Option Slot to install the optional boards of RC700 / RC700-A Controller.

Up to four option boards can be installed in the controller. The types of the option boards

are as follows:

14.2 Expansion I/O Board

14.3 Fieldbus I/O Board

14.4 RS-232C Board

14.5 PG Board

14.6 Analog I/O Board

14.7 Force Sensor I/F Board

14.8 EUROMAP67 Board

Setup & Operation 14. Option Slots

RC700 / RC700-A Rev.23 79

Setup & Operation 14. Option Slots

Input Bit #

Output Bit #

Applicable Hardware

128 to 151

128 to 143

The 3rd Expansion I/O board

160 to 183

160 to 175

The 4th Expansion I/O board

DSW2

DSW1

CN3

Setup the DSW1 and DSW2. CN3 is all open.

1st board

2nd board

3rd board

4th board

SW1 SW2 SW3 SW4

DSW1

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

DSW2 CN3

SW1 SW2 SW3 SW4

DSW2

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

DSW1 CN3

SW4 SW3 SW2 SW1

DSW2

1234

SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1

12345678

DSW1 CN3

SW4 SW3 SW2 SW1

DSW2

1234

SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1

12345678

DSW1 CN3

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.)

0 to 23 0 to 15 STANDARD I/O

64 to 87 64 to 79 The 1st Expansion I/O board

96 to 119 96 to 111 The 2nd Expansion I/O board

14.2.2 Board Configuration (Expansion I/O Board)

Board Appearance Switch and Jumper Configuration

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.

80 RC700 / RC700-A Rev.23

Setup & Operation 14. Option Slots

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the

[System Configuration] dialog.

(2) Select [Controller]-[Inputs / Outputs].

(3) Make sure that “Yes” is displayed in the Installed column.

The expansion I/O board is identified by the Controller software. Corresponding

Input and Output is available.

14.2.4 Input Circuit

Input Voltage Range : + 12 V 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 photo coupler in the input

circuit.

RC700 / RC700-A Rev.23 81

Setup & Operation 14. Option Slots

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

Input No.73

(Same)

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)

Protected Expansion I/O Board Typical Input Circuit Application 1

Protected Expansion I/O Board Typical Input Circuit Application 2

82 RC700 / RC700-A Rev.23

Setup & Operation 14. Option Slots

■

The output circuit has two types: Sink type and Source type. The either type has been configured in the controller before the shipment. Before routing the cables, make sure that the I/O output type of your controller conforms to the external connection d If you route the cables with wrong output type, the parts on the board will be broken and the robot system won

■

Use the wiring diagram of correctly. Improper wiring may cause Manipulator

■

Be for

Improper wiring may cause malfunction of the parts on the board and then system.

14.2.5 Output Circuit

Rated Output Voltage : +12 V to 24 V ±10%

Maximum Output Current : TYP 100 mA/1 output

Output Driver : Photo coupler

evices.

’t operate normally.

CAUTION

2: Source Type for CE conformance. Be sure to wire

safety problems as it may make the

move unusually.

sure to wire the output circuit properly because it has no protection circuitry

short-circuit and reverse-connection.

improper function of the robot

RC700 / RC700-A Rev.23 83

Setup & Operation 14. Option Slots

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

Omit

～

14 Output No.68

15 Output No.69

27 Output No.70

28 Output No.71

(Same)

Typical Output Circuit Application 1: Sink Type

84 RC700 / RC700-A Rev.23

Setup & Operation 14. Option Slots

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

Omit

～

29 Output No.72

14 Output No.68

15 Output No.69

27 Output No.70

30 Output

No.73

(Same)

28 Output No.71

Typical Output Circuit Application 2: Source Type

RC700 / RC700-A Rev.23 85

Setup & Operation 14. Option Slots

Input No.64

Input No.72

Input No.80

Input No.67

Input No.75

Input No.83

Connector

Standard

14.2.6 Pin Assignments (Expansion I/O Board)

Pin Assignment table of the 1st Expansion I/O board.

Connector 1 Pin Assignments

Pin No.

1 Input common No.64 to 71 18 Input common No.72 to 79 34 Input common No.80 to 87

3 Input No.65 20 Input No.73 36 Input No.81

4 Input No.66 21 Input No.74 37 Input No.82

6 Input No.68 23 Input No.76 39 Input No.84

7 Input No.69 24 Input No.77 40 Input No.85

Input No.70

Input No.71

Output No.64

Output No.65

Output No.66

Output No.67

Output No.68

Output No.69

Not Used

Output common No.64 to 71

Signal Name

No.

Input No.78

Input No.79

Output No.70

Output No.71

Output No.72

Output No.73

Output No.74

Not Used

Output common No.72 to 79

Signal Name

No.

Signal Name

Input No.86

Input No.87

Output No.75

Output No.76

Output No.77

Output No.78

Output No.79

Not Used

I/O Connector (Controller side)

* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

D-sub 50 male pin

Mounting style #4 - 40

86 RC700 / RC700-A Rev.23

Input common No.104 to 111

Input common No.112 to 119

Output common No.104 to 111

Output common No.96 to 103

Connector

Standard

Pin Assignment table of the 2nd Expansion I/O board.

Connector 1 Pin Assignments

No.

Signal Name

No.

Signal Name

Setup & Operation 14. Option Slots

No.

Signal Name

Input common No.96 to 103

2 Input No.96 19 Input No.104 35 Input No.112

3 Input No.97 20 Input No.105 36 Input No.113

4 Input No.98 21 Input No.106 37 Input No.114

5 Input No.99 22 Input No.107 38 Input No.115

6 Input No.100 23 Input No.108 39 Input No.116

Input No.101

Input No.102

Input No.103

Output No.96

Output No.97

Output No.98

Output No.99

Output No.100

Output No.101

16 Not Used 33

Input No.109

Input No.110

Input No.111

Output No.102

Output No.103

Output No.104

Output No.105

Output No.106

Not Used

Input No.117

Input No.118

Input No.119

Output No.107

Output No.108

Output No.109

Output No.110

Output No.111

Not Used

49 Not Used

Not Used

I/O Connector (Controller side)

D-sub 50 male pin

Mounting style #4 - 40

* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

RC700 / RC700-A Rev.23 87

Setup & Operation 14. Option Slots

Input common No.128 to 135

Input common No.136 to 143

Input common No.144 to 151

Input No.128

Input No.136

Input No.144

Input No.131

Input No.139

Input No.147

Input No.134

Input No.142

Input No.150

Output common No.136 to 143

Output common No.128 to 135

Connector

Standard

Pin Assignment table of the 3rd Expansion I/O board.

Connector 1 Pin Assignments

No.

Signal Name

Pin No.

Signal Name

No.

Signal Name

Input No.129

Input No.130

Input No.132

Input No.133

Input No.135

Output No.128

Output No.129

Output No.130

Output No.131

Output No.132

Output No.133

Not Used

Input No.137

Input No.138

Input No.140

Input No.141

Input No.143

Output No.134

Output No.135

Output No.136

Output No.137

Output No.138

Not Used

Input No.145

Input No.146

Input No.148

Input No.149

Input No.151

Output No.139

Output No.140

Output No.141

Output No.142

Output No.143

Not Used

I/O Connector (Controller side)

D-sub 50 male pin

Mounting style #4 - 40

* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

88 RC700 / RC700-A Rev.23

Epson RC700, RC700-A User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

FOREWORD

WARRANTY

TRADEMARKS

TRADEMARK NOTATION IN THIS MANUAL

NOTICE

MANUFACTURER

CONTACT INFORMATION

Before Reading This Manual

Safety

1. Safety 3

2. Conventions 3

3. Safety Precautions 4

Setup & Operation

1. Specifications 9

2. Part Names and Functions 14

Table of Contents

3. Installation 22

4. Operation Mode (TEACH/AUTO/TEST) 35

5. Development PC Connection USB Port 40

6. Memory Port 43

7. LAN (Ethernet Communication) Port 46

8. TP Port 50

9. EMERGENCY 52

9.4.1 Example 1: External emergency stop switch typical application 57

10. Standard RS-232C Port 59

11. I/O Connector 61

12. I/O Remote Settings 67

13. R-I/O Connector 77

14. Option Slots 79

Maintenance

1. Safety Precautions on Maintenance 121

2. Regular Maintenance Inspection 123

3. Controller Structure 124

4. Backup and Restore 127

5. Firmware Update 132

6. Alarm 138

7. Maintenance Parts Replacement Procedures 148

8. Verifying Robot System Operation 168

9. Troubleshooting 169

10. Maintenance Parts List 302

Safety

1. Safety

2. Conventions

3. Safety Precautions

Setup & Operation

1. Specifications

1.1 System Example

1.2 Standard Specifications

1.3 Outer Dimensions

2. Part Names and Functions

2.1 LED and Seven-segment LED

2.1.1 LED and Seven-segment LED Display

2.1.2 Particular Status Display

2.2 Safety Features

3. Installation

3.1 Unpacking

3.2 Environmental Requirements

3.2.1 Environment

3.2.2 Installation

3.2.3 Wall Mounting Option

3.3 Power Supply

3.3.1 Specifications

3.3.2 AC Power Cable

3.4 Cable Connection

3.4.1 Typical Cable Connection

3.4.2 Connecting Manipulator to Controller

3.5 Noise Countermeasures

4. Operation Mode (TEACH/AUTO/TEST)

4.1 Overview

4.2 Switch Operation Mode

4.3 Program Mode (AUTO)

4.3.1 What is Program Mode (AUTO)?

4.3.2 Setup from EPSON RC+

4.4 Auto Mode (AUTO)

4.4.1 What is Auto mode (AUTO)?

4.4.2 Setup from EPSON RC+