EPSON RC90, RC90-B Users guide

ROBOT CONTROLLER

RC90 / RC90-B

(EPSON RC+ 7.0)

Rev.26

EM208C4443F

ROBOT CONTROLLER

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

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):

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 disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

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 all 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

followings may result in malfunction of the device since the pin assignments are different.NOTE Connecting to theDo not connect the followings to the TP/OP port of RC90 / RC90-B.

OPTIONAL DEVICE dummy plug

Operation Pendant OP500

Operator Pendant OP500RC

Jog Pad JP500

Teaching Pendant TP-3**

Operator Panel OP1

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.NOTE For RC90 / RC90-B, be sure to install the EPSON RC+ 7.0 to the development PC first,

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.NOTE Concerning the security support for the network connection:

Make sure the USB memory is not infected with virus when connecting to the Controller.NOTE Security support for the USB memory:

iv	RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

Control System Configuration

This manual explains with the following combinations of Controllers and software.

Robot Controller RC90 with the following label attached:

Label

Controller

Software

RC90 EPSON RC+ 7.0

				RC90 controller firmware
				Ver.7.0.2.0 or later
	EPSON RC+ 7.0		Before Ver.7.0.1	!!!
			Ver.7.0.2 or later	OK
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.

NOTE



NOTE



NOTE



Robot Controller RC90-B:

				RC90-B controller firmware
				Ver.7.4.2.0 or later
	EPSON RC+ 7.0		Before Ver.7.4.1	!!!
			Ver.7.4.2 or later	OK
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

				Table of Contents
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
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

Table of Contents

Maintenance

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.

Safety 1. Safety

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.

	This symbol indicates that a danger of possible serious injury or death
WARNING	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
WARNING	properly.
	This symbol indicates that a danger of possible harm to people or
	physical damage to equipment and facilities exists if the associated
CAUTION	instructions are not followed properly.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

3

Safety 3. Safety Precautions

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:

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 product but may also cause serious safety problems.

The robot system must be used within the installation requirements described in the manuals. Using the robot system outside of the installation requirements

WARNING	may not only shorten the life cycle of the product but also cause serious safety
	problems.

The interlock of the Safety Door must be functioning when the robot system is 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 the switch to hold it closed.) Operating the robot system when the switch is not functioning properly is extremely hazardous and may cause serious safety problems 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 Circuit Diagrams.)

4	RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

Safety 3. Safety Precautions

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

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 the high voltage charge inside 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

WARNING	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 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 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 cause improper function of the robot system and also safety problems.

When using remote I/O, always make sure of the following. Using the robot system under unsatisfactory conditions may cause malfunction of the system and/or safety problems.

CAUTION	-	Assign remote functions to inputs/outputs correctly and wire correctly when
		setting up remote I/O signals.
	-	Make sure that the functions correspond to the correct input/output signals
		before turning ON the system.
	- When verifying the robot 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.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

5

Safety 3. Safety Precautions

		The following items are safety precautions for qualified operator personnel:
		 The interlock of the Safety Door must be functioning when the robot system is
		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 the switch to hold it closed.) Operating the robot
	WARNING	system when the switch is not functioning properly is extremely hazardous and
		may cause serious safety problems as the Safety Door input cannot fulfill its
		intended function.
		 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
	WARNING	shock even when its main power is OFF because of the high voltage charge inside
		the Controller.

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. Specifications

1.1 System Example

PLC (Sequencer)	Operation panel	Motion Controller

RC90 / RC90-B

	Standard			Option
	Standard I/O			Fieldbus
	Remote I/O			PROFIBUS-DP
	Ethernet			DeviceNet
	RS-232C			CC-Link
				EtherNet/IP
				PROFINET
				EtherCAT
		PG Board		Expansion I/O Board
		AnalogI/O Board		RS-232C Board
				EUROMAP67 Board
	USB 2.0
		or
	Ethernet
PC

Windows *1

EPSON RC+ 7.0

Software

Option

*1 EPSON RC+ 7.0 supports the following OS Windows 8.1 Pro (EPSON RC+7.0 Ver.7.1.0 or later) Windows 10 Pro (EPSON RC+7.0 Ver.7.2.0 or later)

LS / LS-B series

TP1

(Option)

TP2

(Option)

Requires preparation by users

RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

9

Setup & Operation 1. Specifications

1.2Standard Specifications

Item			Specification
Model	Robot Controller RC90 / RC90-B
CPU	32 bits Micro Processor
Controllable axes	4 AC servo motors
	Programming	EPSON RC+ 7.0 (multi-tasking robot language)
	language and
	Robot control	Ver.7.0.2 or later is recommended.
	software
	Joint Control	Up to 4 joints simultaneous control
		Software AC servo control
Robot manipulator		PTP motion : Programmable in the range of
control	Speed Control			1 to 100%
		CP motion		: Programmable (Actual value
				to be manually entered.)
	Acceleration/	PTP motion : Programmable in the range of
				1 to 100%; Automatic
	deceleration
		CP motion		: Programmable (Actual value
	control
				to be manually entered.)
Positioning control	PTP (Point-To-Point control)
	CP (Continuous Path control)
	Maximum Object Size		: 4 MB
	Point data area		: 1000 points (per file)
Memory capacity	Backup variable area		: Max. 100 KB (Includes the memory area for
			the management table.)
			Approx. 1000 variables (Depends on the size
			of array variables.)
Teaching method	Remote
	Direct
	MDI (Manual Data Input)
					Including 8 inputs,
External		Input	: 24		8 outputs with remote
input/output	Standard I/O				function assigned
		Output : 16
signals (standard)					Assignment change
					allowed
Communication	Ethernet	1 channel
interface (standard)
RS-232C port	1 port

10	RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

Setup & Operation 1. Specifications

Item						Specification
		Expansion I/O			Input	: 24 per board		Addition of
					Output : 16 per board			2 boards allowed
					RS-232C : 2ch per board			Addition of
								2 boards allowed
		Communication			Fieldbus I/O : 1ch per board			Addition of
		interface			PROFIBUS-DP,
					DeviceNet, CC-Link,			1 board from the left
Options
					EtherNet/IP, PROFINET,			allowed
(Max. 2 slots)					EtherCAT
		PG			Controllable joints			Addition of
					4 joints/board			2 board allowed
					SKU1	Output: 1ch		Addition of
		Analog I/O			SKU2	Output: 2ch		2 board from the left
						Input: 2ch		allowed
		EUROMAP67			Input	: 15		Addition of
					Output	: 16		1 board 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
Safety features		- 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		200 VAC to 240 VAC
		Single phase 50/60 Hz
Maximum Rated Capacity		2.5 kVA (Depending on the Manipulator model)
Insulation Resistance		100 MΩ or more
Rated	Ambient	5 to 40 °C
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

Setup & Operation 1. Specifications

1.3Outer Dimensions

[Unit : mm]

12	RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

Setup & Operation 2. Part Names and Functions

2. Part Names and Functions

2.1 Part Names

	(8)	(4)				(18)
(Left side)
(5)								(1)
					(3)	(19)
		(17)						(2)
(19)
(7)	(9)	(10)	(11)	(12)	(13) (14) (15)		(16)	(6)

NOTE

Illustration is RC90. Part names and functions of RC90 and RC90-B are the same.

2.2Functions

(1)POWER switch

Turns ON or OFF the Controller.

(2)AC IN

The terminal block for 200VAC power input.

For details, refer to Setup & Operation 3.3.2 AC Power Cable.

(3)LED

The LED indicates current operation mode (ERROR, E-STOP, TEACH, AUTO, or PROGRAM mode). For details, refer to Setup & Operation 2.3 LED.

(4)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.

(5)Signature label

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

(6)Controller Number label

The serial number of the Controller is indicated.

(7)Connection Check label

The details of the Manipulator to be connected are recorded on the label as shown in the right. The label indicates the Manipulator model and Manipulator serial number.

MANIPULATOR

LS3-401S 00002

RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

13

Setup & Operation 2. Part Names and Functions

(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.

NOTE 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

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.

2.3 LED

Five LEDs are located on the front panel of the Controller.

LEDs (ERROR, E-STOP, 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

	Controller status	LED display
	Execute Controller status
	storage function to the	TEACH, AUTO, PROGRAM blink.
	USB memory
	Complete Controller status	TEACH, AUTO, PROGRAM turn ON
		(for 2 seconds).
	storage to USB memory
		ERROR turns OFF even if an error occurs.
	Failure of Controller status	ERROR, TEACH, AUTO, PROGRAM turn ON
	storage to USB memory	(for 2 seconds).
	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.
	AC power supply drop	TEACH, AUTO turn ON.
	Test mode	TEACH turns ON.

RC90 / RC90-B (EPSON RC+ 7.0) Rev.26

15

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