EPSON RC90, RC90-B Users guide
Rev.26 EM208C4443F
ROBOT CONTROLLER
RC90 / RC90-B
(EPSON RC+ 7.0)
ROBOT CONTROLLER RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
ROBOT CONTROLLER
RC90 / RC90-B
(EPSON RC+ 7.0)
Rev.26
Copyright © 2013-2020 SEIKO EPSON CORPORATION. All rights reserved.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 i
FOREWORD
1. Damage or malfunction caused by improper use which is not described in the manual, or
careless use.
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural
1. If the robot system associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this warranty is void.
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 al
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):
disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
l possible hazards.
ii RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8, and Windows 10 refer to above respective
operating systems. In some cases, Windows refers generically to 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
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 iii
Before Reading This Manual
NOTE
NOTE
NOTE
NOTE
Do not connect the followings to the TP/OP port of RC90 / RC90-B. 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 RC90 / RC90-B, be sure to install the EPSON RC+ 7.0 to the development PC first,
then connect the development PC and RC90 / RC90-B with the USB cable.
If RC90 / RC90-B 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 RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Label
Controller
Software
RC90 controller firmware
Ver.7.0.2.0 or later
Before Ver.7.0.1
!!!
Ver.7.0.2 or later
OK
RC90-B controller firmware
Ver.7.4.2.0 or later
Before Ver.7.4.1
!!!
Ver.7.4.2 or later
OK
NOTE
NOTE
NOTE
Control System Configuration
This manual explains with the following combinations of Controllers and software.
Robot Controller RC90 with the following label attached:
RC90
EPSON RC+ 7.0
EPSON RC+ 7.0
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.0.2 or later.
Robot Controller RC90-B:
EPSON RC+ 7.0
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.4.2 or later.
There is no label on RC90-B.
Manual PDF for this robot system is available from EPSON RC+ 7.0 Ver. 7.0.2
This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without the label.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 v
vi RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
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 .........................................................................10
1.3 Outer Dimensions ..................................................................................12
2. Part Names and Functions 13
Table of Contents
2.1 Part Names ............................................................................................13
2.2 Functions ...............................................................................................13
2.3 LED ........................................................................................................15
2.4 Safety Features......................................................................................16
3. Installation 18
3.1 Unpacking ..............................................................................................18
3.2 Environmental Requirements ................................................................18
3.2.1 Environment ...............................................................................18
3.2.2 Installation ..................................................................................19
3.3 Power Supply .........................................................................................20
3.3.1 Specifications .............................................................................20
3.3.2 AC Power Cable .........................................................................21
3.3.3 M/C Power Cable .......................................................................22
3.4 Cable Connection ..................................................................................23
3.4.1 Typical Cable Connection ..........................................................24
3.4.2 Connecting Manipulator to Controller ........................................26
3.5 Noise Countermeasures ........................................................................28
4. Operation Mode (TEACH/AUTO/TEST) 29
4.1 Overview ................................................................................................29
4.2 Switch Operation Mode .........................................................................29
4.3 Program Mode (AUTO) ..........................................................................30
4.3.1 What is Program Mode (AUTO)? ...............................................30
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 vii
Table of Contents
4.3.2 Setup from EPSON RC+ 7.0 ..................................................... 30
4.4 Auto Mode (AUTO) ................................................................................ 31
4.4.1 What is Auto mode (AUTO)? ..................................................... 31
4.4.2 Setup from EPSON RC+ 7.0 ..................................................... 31
4.4.3 Setup from Control Device ......................................................... 32
5. Development PC Connection Port 33
5.1 About Development PC Connection Port .............................................. 33
5.2 Precaution .............................................................................................. 34
5.3 Software Setup and Connection Check ................................................ 34
5.4 Disconnection of Development PC and Controller ................................ 35
6. Memory Port 36
6.1 What is Controller Status Storage Function? ........................................ 36
6.2 Before Using Controller Status Storage Function ................................. 36
6.2.1 Precautions ................................................................................ 36
6.2.2 Adoptable USB Memory ............................................................ 36
6.3 Controller Status Storage Function ....................................................... 37
6.3.1 Controller Status Storage with Trigger Button ........................... 37
6.3.2 Load Data with EPSON RC+ 7.0 ............................................... 37
6.3.3 Transfer with E-mail ................................................................... 39
6.4 Details of Data ....................................................................................... 39
7. LAN (Ethernet Communication) Port 40
7.1 About the LAN (Ethernet Communication) Port .................................... 40
7.2 IP Address ............................................................................................. 40
7.3 Changing Controller IP Address ............................................................ 41
7.4 Connection of Development PC and Controller with Ethernet .............. 42
7.5 Disconnection of Development PC and Controller with Ethernet ......... 43
8. TP Port 44
8.1 What is the TP Port? ............................................................................. 44
8.2 Teach Pendant Connection ................................................................... 44
9. EMERGENCY 45
9.1 Safety Door Switch and Latch Release Switch ..................................... 45
9.1.1 Safety Door Switch .................................................................... 46
9.1.2 Latch Release Switch ................................................................ 46
9.1.3 Checking Latch Release Switch Operation ............................... 47
viii RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Table of Contents
9.2 Emergency Stop Switch Connection .....................................................48
9.2.1 Emergency Stop Switch .............................................................48
9.2.2 Checking Emergency Stop Switch Operation ............................48
9.2.3 Recovery from Emergency Stop ................................................48
9.3 Pin Assignments ....................................................................................49
9.4 Circuit Diagrams ....................................................................................50
9.4.1 Example 1: External emergency stop switch typical application50
9.4.2 Example 2: External safety relay typical application..................51
10. Standard RS-232C Port 52
10.1 About the RS-232C Port ......................................................................52
10.2 Confirmation with EPSON RC+ 7.0 (RS-232C) ..................................52
10.3 RS-232C Software Communication Setup (RS-232C) .......................53
10.4 Communication Cable (RS-232C) .......................................................53
11. I/O Connector 54
11.1 RC90 (I/O Connector) ..........................................................................55
11.1.1 Input Circuit (RC90) .................................................................55
11.1.2 Output Circuit (RC90)...............................................................57
11.2 RC90-B (I/O Connector) ......................................................................60
11.2.1 Input Circuit (RC90-B) ..............................................................60
11.2.2 Output Circuit (RC90-B) ...........................................................62
11.3 Pin Assignments ..................................................................................64
12. I/O Remote Settings 65
12.1 I/O Signal Description ..........................................................................66
12.1.1 Remote Input Signals ...............................................................66
12.1.2 Remote Output Signals ............................................................70
12.2 Timing Specifications ...........................................................................73
12.2.1 Design Notes for Remote Input Signals...................................73
12.2.2 Timing Diagram for Operation Execution Sequence ...............73
12.2.3 Timing Diagram for Program Execution Sequence .................73
12.2.4 Timing Diagram for Safety Door Input Sequence ....................74
12.2.5 Timing Diagram for Emergency Stop Sequence .....................74
13. Option Slots 75
13.1 About Option Slots ...............................................................................75
13.2 Expansion I/O Board ............................................................................75
13.2.1 About Expansion I/O Board .....................................................75
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 ix
Table of Contents
13.2.2 Board Configuration (Expansion I/O)....................................... 75
13.2.3 Confirmation with EPSON RC+ 7.0 ......................................... 76
13.2.4 Input Circuit .............................................................................. 76
13.2.5 Output Circuit ........................................................................... 78
13.2.6 Pin Assignments ...................................................................... 81
13.3 Fieldbus I/O Board ............................................................................... 82
13.4 RS-232C Board ................................................................................... 82
13.4.1 RS-232C Board ........................................................................ 82
13.4.2 Board Setup (RS-232C) ........................................................... 82
13.4.3 Confirmation with EPSON RC+ 7.0 (RS-232C) ...................... 83
13.4.4 RS-232C Software Communication Setup (RS-232C) ............ 83
13.4.5 Communication Cable (RS-232C) ........................................... 84
13.5 Analog I/O Board ................................................................................. 85
13.5.1 About Analog I/O Board ........................................................... 85
13.5.2 Board Configuration (Analog I/O Board) ................................. 86
13.5.3 Confirmation with EPSON RC+ (Analog I/O Board) ................ 89
13.5.4 Input Circuit (Analog I/O Board) .............................................. 90
13.5.5 Output Circuit (Analog I/O Board) ............................................ 90
13.5.6 Pin Assignments (Analog I/O Board) ....................................... 91
13.6 EUROMAP67 Board ............................................................................ 92
13.6.1 Notes on the EUROMAP67 Board .......................................... 93
13.6.2 Board Settings (EUROMAP67 Board) ..................................... 95
13.6.3 Installation (EUROMAP67 Board) ........................................... 95
13.6.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board) ....... 97
13.6.5 Sample Project (EUROMAP67 Board) .................................... 97
13.6.6 Circuit Overview (EUROMAP67 Board) .................................. 98
13.6.7 Input Circuit (EUROMAP67 Board) ......................................... 99
13.6.8 Output Circuit (EUROMAP67 Board) ...................................... 99
13.6.9 Emergency Stop, Safeguard (EUROMAP67 Board) ............. 100
13.6.10 I/O Pin Assignments (EUROMAP67 Board) ........................ 101
13.6.11 Emergency stop connecter Pin Assignments
(EUROMAP67 Board) ......................................................... 102
x RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Maintenance
Table of Contents
1. Safety Precautions on Maintenance 107
1.1 Safety Precautions .............................................................................. 107
1.2 Lockout / Tagout ................................................................................. 108
2. Regular Maintenance Inspection 110
3. Controller Structure 111
3.1 Location of Parts ................................................................................. 111
3.1.1 RC90 (for LS3, LS6) ................................................................ 111
3.1.2 RC90 (for LS20) ...................................................................... 111
3.1.3 RC90-B (for LS3-B, LS6-B) ..................................................... 112
3.1.4 RC90-B (for LS10-B, LS20-B) ................................................. 112
3.2 Diagram of Cable Connections ........................................................... 113
3.2.1 RC90 (for LS3, LS6), RC90-B( for LS3-B, LS6-B) .................. 113
3.2.2 RC90 (for LS20), RC90-B (for LS10-B, LS20-B) .................... 114
4. Backup and Restore 115
4.1 What is the Backup Controller Function? ........................................... 115
4.2 Backup Data Types ............................................................................ 115
4.3 Backup ................................................................................................ 116
4.4 Restore ............................................................................................... 117
5. Firmware Update 120
5.1 Updating Firmware ............................................................................. 120
5.2 Firmware Upgrade Procedure ............................................................ 120
5.3 Controller Recovery ............................................................................ 123
5.4 Firmware Initialization Procedure ....................................................... 124
5.5 Adding Confirmation Steps by Strengthening Security of EtherNet
Connection .......................................................................................... 126
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 xi
Table of Contents
6. Alarm 130
6.1 Before Controller Firmware Ver.7.1.8.x ............................................... 131
6.1.1 Alarm Configuration ................................................................. 131
6.1.2 How to View the Alarm Information ......................................... 132
6.1.3 How to Edit the Alarm Information ........................................... 133
6.1.4 Alarm Notifying Method ........................................................... 133
6.1.5 How to Cancel the Alarm ......................................................... 134
6.2 Controller Firmware Ver.7.2.0.x or later .............................................. 135
6.2.1 Maintenance Information ......................................................... 135
6.2.2 How to View the Maintenance Information .............................. 136
6.2.3 How to Edit the Maintenance Information ............................... 138
6.2.4 Alarm Notifying Method ........................................................... 139
6.2.5 How to Cancel the Alarm ......................................................... 139
7. Maintenance Parts Replacement Procedures 140
7.1 Fan Filter .............................................................................................. 141
7.2 Fan ....................................................................................................... 142
7.3 Battery ................................................................................................. 143
7.4 CF (Compact Flash) ............................................................................ 145
7.5 MDB ..................................................................................................... 146
7.6 DMB ..................................................................................................... 148
7.7 DMB Sub Board ................................................................................... 152
7.8 DPB...................................................................................................... 153
7.9 Option Board........................................................................................ 155
8. Verifying Robot System Operation 157
9. Troubleshooting 158
9.1 Error Code Table ................................................................................. 158
9.2 Cannot Connect the Development PC and the Controller using the USB
cable .................................................................................................... 291
9.2.1 Confirmation Using Windows Device Manager ....................... 292
9.2.2 When recognized under “Other devices”
in Windows Device Manager ................................................... 294
10. Maintenance Parts List 295
xii RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Safety
This section contains information for safety of the Robot System.
1. Safety
Installation and transportation of robots 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.
WARNING
WARNING
Safety 1. Safety
This symbol indicates that a danger of possible serious injury or death
exists if the associated instructions are not followed properly.
This symbol indicates that a danger of possible harm to people caused
by electric shock exists if the associated instructions are not followed
properly.
CAUTION
This symbol indicates that a danger of possible harm to people or
physical damage to equipment and facilities exists if the associated
instructions are not followed properly.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 3
Safety 3. Safety Precautions
Personnel
read the Safety chapter in User
before designing and/or constructing the robot system. Designing and/or
constructing the robot system withou
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 environmen
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.
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 s
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 Teach
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
who design and/or construct the robot system with this product must
’s Guide to understand the safety requirements
t understanding the safety requirements is
t that exceeds the specified environmental
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
s.
robot system is
Do not operate the system under the condition that the switch cannot
witch is not functioning properly is extremely hazardous and
cause serious safety problem
.
Circuit Diagrams.)
4 RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Do not open the cover(s) of the Controller except while maintaining it. Opening
the cover(s) of the Controller is extremely hazardous and may result in electric
shock even when its main power is OFF because of t
the Controller.
Make sure that the power to the Controller is turned OFF before connecting or
disconnecting any cables. Connecting or disconnecting any cables with the
power ON is extremely hazardous and may result in electric shock and/or
malfunction of the Controller.
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 connecting the plug to fit the outlet in your factory, make sure that it is done
by qualified personnel. When connecting the plug, be sure to connect the earth
wire of the AC power cable colored green/yellow on the Controller to the earth
termin
at all times to avoid the risk of electric shock. Always use a power plug and
receptacle. Never connect the Controller directly to the factory power supply.
(Field wiring)
The serial number of the Manipulator that should be connected is indicated on the
Connection Check Label on the Controller. Connect the Controller and the
Manipulator correctly. Improper connection between the Controller and the
Manipulator may
problems.
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.
-
-
- When verifying the robot system operation, prepare for failures with initial
WARNING
Safety 3. Safety Precautions
The following items are safety precautions for qualified design or installation
personnel: (cont.)
he high voltage charge inside
CAUTION
al of the factory power supply. The equipment must be grounded properly
cause improper function of the robot system and also safety
unsatisfactory
Assign remote functions to inputs/outputs correctly and wire correctly when
setting up remote I/O signals.
Make sure that the functions correspond to the correct input/output signals
before turning ON the system.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 5
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.
Safety 3. Safety Precautions
The interlock of the Safety Door must be functioning when the
operated.
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
is extremely hazardous and
may
s as the Safety Door input cannot fulfill its
intended function
Do not open the cover(s) of the Control
the cover(s) of the Controller is
and may result in electric
shock
the Control
The following items are safety precautions for qualified operator personnel:
WARNING
WARNING
robot system is
Do not operate the system under the condition that the switch cannot
functioning properly
cause serious safety problem
.
ler except while maintaining it. Opening
extremely hazardous
even when its main power is OFF because of the high voltage charge inside
ler.
6 RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Setup & Operation
This section contains information for setup and operation of the Robot Controller.
Setup & Operation 1. Specifications
*1 EPSON RC+ 7.0 supports the following OS
Wi
ndows 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)
Operation panel
Motion Controller
RC90 / RC90-B
Expansion I/O Board
Fieldbus
PROFIBUS-DP
DeviceNet
CC-Link
EtherNet/IP
PROFINET
EtherCAT
RS-232C Board
Windows *1
PC
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 users
LS / LS-B series
PLC (Sequencer)
Option
Standard
PG Board
TP1
(Option)
AnalogI/O Board
EUROMAP67 Board
1. Specifications
1.1 System Example
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 9
Setup & Operation 1. Specifications
Item
Specification
Model
Robot Controller RC90 / RC90-B
Controllable axes
4 AC servo motors
Programming
software
Up to 4 joints simultaneous control
Software AC servo control
PTP motion : Programmable in the range of
to be manually entered.)
PTP motion : Programmable in the range of
to be manually entered.)
Maximum Object Size : 4 MB
of array variables.)
Including 8 inputs,
allowed
RS-232C port
1 port
1.2 Standard Specifications
CPU 32 bits Micro Processor
Robot manipulator
control
Positioning control
Memory capacity
Teaching method
language and
Robot control
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 : Max. 100 KB (Includes the memory area for
Remote
Direct
MDI (Manual Data Input)
EPSON RC+ 7.0 (multi-tasking robot language)
Ver.7.0.2 or later is recommended.
1 to 100%
CP motion : Programmable (Actual value
1 to 100%; Automatic
CP motion : Programmable (Actual value
the management table.)
Approx. 1000 variables (Depends on the size
External
input/output
signals (standard)
Communication
interface (standard)
10 RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Standard I/O
Ethernet 1 channel
Input : 24
Output : 16
8 outputs with remote
function assigned
Assignment change
Setup & Operation 1. Specifications
Item
Specification
Addition of
2 boards allowed
EtherCAT
1 board from the left
Controllable joints
4 joints/board
Addition of
2 board allowed
SKU1
Output: 1ch
Addition of
2 board from the left
Output: 2ch
Input: 2ch
Input : 15
Output : 16
Addition of
1 board allowed
Rated Ambient
Options
(Max. 2 slots)
Safety features
Expansion I/O
Input : 24 per board
Output : 16 per board
Addition of
2 boards allowed
RS-232C : 2ch per board
Communication
interface
Fieldbus I/O : 1ch per board
PROFIBUS-DP,
DeviceNet, CC-Link,
EtherNet/IP, PROFINET,
Addition of
allowed
PG
Analog I/O
SKU2
allowed
EUROMAP67
- 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
Maximum Rated Capacity 2.5 kVA (Depending on the Manipulator model)
Insulation Resistance 100 MΩ or more
Temperature
Rated Relative Humidity 20% to 80% (with no condensation)
Weight *1 7.5 kg or 10 kg (Depending on the Manipulator model)
Degree of protection IP20
*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.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 11
200 VAC to 240 VAC
Single phase 50/60 Hz
5 to 40
°C
Setup & Operation 1. Specifications
1.3 Outer Dimensions
[Unit : mm]
12 RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Setup & Operation 2. Part Names and Functions
(3)
(18)
(11) (12) (13) (14) (15) (16) (6)
(4)
(1)
(10) (9)
(8)
(19)
(19)
(17)
(5)
(Left side)
(2)
(7)
The details of the Manipulator to be connected are recorded on
label indicates the
Manipulator model and Manipulator serial number.
MANIPULATOR
00002
LS3-401S
NOTE
2. Part Names and Functions
2.1 Part Names
Illustration is RC90. Part names and functions of RC90 and RC90-B are the same.
2.2 Functions
(1) POWER switch
(2) AC IN
(3) LED
(4) Fan Filter
(5) Signature label
(6) Controller Number label
(7) Connection Check label
Turns ON or OFF the Controller.
The terminal block for 200VAC power input.
For details, refer to Setup & Operation 3.3.2 AC Power Cable.
The LED indicates current operation mode (ERROR, E-STOP, TEACH, AUTO, or
PROGRAM mode). For details, refer to Setup & Operation 2.3 LED.
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.
The serial number of the Controller and other information are shown.
The serial number of the Controller is indicated.
the label as shown in the right. The
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 13
Setup & Operation 2. Part Names and Functions
NOTE
(8) M/C POWER connector
A connector for the Manipulator power source.
Connect the dedicated power cable attached to the Manipulator.
(9) 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.
(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 (Option), TP2 (Option) and TP bypass plug. For details,
refer to Setup & Operation 8. TP Port.
Do not connect the following to the TP port of RC90 / RC90-B. 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
(12) Development PC connection 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 Port.
(13) Memory port
This port connects the common USB memory for Controller status storage function.
Do not connect other USB devices except the USB memory.
For details, refer to Setup & Operation 6. Memory Port.
(14) Trigger Switch
This switch is for Controller status storage function using the USB memory.
For details, refer to Setup & Operation 6. Memory Port.
(15) 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.
(16) 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.
(17) 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.
14 RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
Controller status
LED display
Execute Controller status
USB memory
TEACH, AUTO, PROGRAM turn ON
ERROR turns OFF even if an error occurs.
2.3 LED
Setup & Operation 2. Part Names and Functions
(18) Option slot
Option boards such as expansion I/O board, Fieldbus I/O board, RS-232C board, PG
board, Analog I/O board can be installed. Two slots are available.
For details, refer to Setup & Operation 13.Option Slots.
(19) Cable Clamp
This can be used to secure the M/C Power Cable and the AC Power cable.
(20) Battery (Mounted inside the controller)
This is a lithium battery for data backup.
Five LEDs are located on the front panel of the Controller.
LEDs (ERROR, E-S TO P, TEACH, AUTO, PROGRAM) turn ON according to the
controller status (error, Emergency Stop, TEACH mode, Auto mode, Program mode).
From turning ON the Controller to completing startup
Three LEDs (TEACH, AUTO, PROGRAM) blink.
After Controller Startup
storage function to the
Complete Controller status
storage to USB memory
Failure of Controller status
storage to USB memory
Error ERROR turns ON.
Warning ERROR blinks.
Emergency Stop E-STOP turns ON.
TEACH mode TEACH blinks.
Auto mode (AUTO mode) AUTO blinks.
Program mode (AUTO mode) PROGRAM blinks.
Recovery mode ERROR, TEACH, PROGRAM turn ON.
TEACH, AUTO, PROGRAM blink.
(for 2 seconds).
ERROR, TEACH, AUTO, PROGRAM turn ON
(for 2 seconds).
AC power supply drop TEACH, AUTO turn ON.
RC90 / RC90-B (EPSON RC+ 7.0) Rev.26 15
Test mode TEACH turns ON.
Setup & Operation 2. Part Names and Functions
2.4 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 the 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.
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.
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.
Motor Overload Detection
The dynamic brake circuit is activated when the system detects that the load on the motor
has exceeded its capacity.
Irregular Motor Torque (out-of-control manipulator) Detection
The dynamic brake circuit is activated when irregularity with motor torque (motor output)
is detected (in which case the Manipulator is out of control).
16 RC90 / RC90-B (EPSON RC+ 7.0) Rev.26
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