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Epson RC90 Manual

Robot controller
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ROBOT CONTROLLER
RC90
(EPSON RC+ 7.0)
Rev.8
EM158C3031F

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Summary of Contents for Epson RC90

  • Page 1 ROBOT CONTROLLER RC90 (EPSON RC+ 7.0) Rev.8 EM158C3031F...
  • Page 3 ROBOT CONTROLLER (EPSON RC+ 7.0) Rev.8 Copyright © 2013-2015 SEIKO EPSON CORPORATION. All rights reserved. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 4 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. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 5 Please prepare the following items before you contact us. - Your controller model and its serial number - Your manipulator model and its serial number - Software and its version in your robot system - A description of the problem SERVICE CENTER RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 6 7F, Jinbao Building No. 89, Jinbao Street, Dongcheng District, Beijing, China, 100005 : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1120 Taiwan Epson Taiwan Technology & Trading Ltd. Factory Automation Division 14F, No.7, Song Ren Road, Taipei 110, Taiwan, ROC : +886-(0)-2-8786-6688 : +886-(0)-2-8786-6677 RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 7 12th Floor, The Millenia, Tower A, No. 1, Murphy Road, Ulsoor, Bangalore, India 560008 : +91-80-3051-5000 : +91-80-3051-5005 Japan Epson Sales Japan Corporation Factory Automation Systems Department Nishi-Shinjuku Mitsui Bldg.6-24-1 Nishishinjuku, Shinjuku-ku, Tokyo 160-8324 Japan : +81-(0)3-5321-4161 RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 8  NOTE For RC90, be sure to install the EPSON RC+ 7.0 to the development PC first, then connect the development PC and RC90 with the USB cable. If RC90 and the development PC are connected without installing the EPSON RC+ 7.0 to the development PC, [Add New Hardware Wizard] appears.
  • Page 9 Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.0.2 or later. NOTE  Manual PDF for this robot system is available from EPSON RC+ 7.0 Ver. 7.0.2 NOTE  This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without the label. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 10 RC90 (EPSON RC+ 7.0) Rev.8 viii...

  • Page 11: Table Of Contents

    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 ............23 3.4.2 Connecting Manipulator to Controller ........25 3.5 Noise Countermeasures ................26 RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 12 6.2.2 Adoptable USB Memory ............34 6.3 Controller Status Storage Function ............35 6.3.1 Controller Status Storage with Trigger Button ......35 6.3.2 Load Data with EPSON RC+ 7.0 ..........35 6.3.3 Transfer with E-mail ..............37 6.4 Details of Data ..................37 7.
  • Page 13 9.4.2 Example 2: External safety relay typical application....49 10. Standard RS-232C Port 10.1 About the RS-232C Port ..............50 10.2 Confirmation with EPSON RC+ 7.0 .............50 10.3 RS-232C Software Communication Setup (RS-232C) .......51 10.4 Communication Cable (RS-232C) ............51 11. I/O Connector 11.1 Input Circuit ..................52...
  • Page 14 13.4 RS-232C Board ................... 76 13.4.1 About the RS-232C Board ............76 13.4.2 Board Setup ................76 13.4.3 Confirmation with EPSON RC+ 7.0 (RS-232C) ...... 77 13.4.4 RS-232C Software Communication Setup (RS-232C) .... 77 13.4.5 Communication Cable (RS-232C) ........... 78 Maintenance 1.
  • Page 15 7.1 Fan Filter ..................... 100 7.2 Fan ...................... 101 7.3 Battery ....................102 7.4 CF (Compact Flash) ................103 7.5 MDB ....................104 7.6 DMB ....................106 7.7 DMB Sub Board .................. 110 7.8 Option Board ..................111 RC90 (EPSON RC+ 7.0) Rev.8 xiii...

  • Page 16: Epson Rc+ 7.0

    9.2 Cannot Connect the Development PC and the Controller using the USB cable ..................206 9.2.1 Confirmation Using Windows Device Manager ....... 207 9.2.2 When recognized under “Other devices” in Windows Device Manager ..............209 10. Maintenance Parts List RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 17 Safety This section contains information for safety of the Robot System.

  • Page 19: Rc90 (Epson Rc+ 7.0) Rev

    WARNING followed 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 (EPSON RC+ 7.0) Rev.8...

  • Page 20: Safety Precautions

     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.) RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 21: Epson Rc+ 7.0

    - 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 (EPSON RC+ 7.0) Rev.8...

  • Page 22: Epson Rc+ 7.0

     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 WARNING inside the Controller. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 23: Setup & Operation

    Setup & Operation This section contains information for setup and operation of the Robot Controller.

  • Page 25: Specifications

    Ethernet (Option) Windows *1 EPSON RC+ 7.0 Software (Option) Option *1 EPSON RC+ 7.0 supports the following OS Windows XP Professional Service Pack 3 Windows Vista Business Service Pack 2 Requires preparation Windows 7 Professional by users Windows 8.1 Pro (EPSON RC+7.0 Ver.7.1.0 or later)

  • Page 26: Standard Specifications

    Robot Controller RC90 32 bits Micro Processor Controllable axes 4 AC servo motors Programming language and EPSON RC+ 7.0 (multi-tasking robot language) Robot control Ver.7.0.2 or later is recommended. software Up to 4 joints simultaneous control Joint Control Software AC servo control...
  • Page 27 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 (EPSON RC+ 7.0) Rev.8...

  • Page 28: Outer Dimensions

    Setup & Operation 1. Specifications 1.3 Outer Dimensions [Unit : mm] RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 29: Part Names And Functions

    (8) Connection Check label MANIPULATOR The details of the Manipulator to be connected are recorded on LS3-401S 00002 the label as shown in the right. The label indicates the Manipulator model and Manipulator serial number. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 30 For details, refer to Setup & Operation 8. TP Port. NOTE Do not connect the following to the TP port of RC90. Connecting to the followings  may result in malfunction of the device since the pin assignments are different.

  • Page 31: Led

    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 blinks. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 32: Safety Features

    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). RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 33 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. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 34: Installation

    - 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 - Prevent the occurrence of strong electric or magnetic field. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 35: Installation

    - Hot air with higher temperature than the ambient temperature (about 10 deg.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. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 36: Power Supply

    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. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 37: Ac Power Cable

    Connection Specification of Cable Wire Purpose Color AC power wire (2 cables) Black Ground wire Green / Yellow Specification of Power plug (option) Name Model Manufacturer AMERICAN AC plug 4222R DENKI Cable length: 3 m (Standard) RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 38: M/C Power Cable

    (1) Mount the M/C Power Cable as shown in the picture and form the cables. (2) Set the M/C Power Cable in the clamp for the M/C Power Cable. (3) Mount the cover for the M/C Power Connector. (4) Secure the cover with the screw. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 39: Cable Connection

    PC for Development Connect by (5) or (7) (6) USB Memory (7) LAN (Ethernet Communication) (8) I/O Connector Input/Output Device (9) TP Connector Teach Pendant (10) Standard RS-232C Connector FieldBus I/O Option Expansion I/O RS-232C RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 40 For details, refer to the Setup & Operation 8.TP Port. (10) 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. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 41: Connecting Manipulator To Controller

    Connection Check label attached on the front of the NOTE  Controller. The Manipulator’s serial number is indicated on the signature label of the Manipulator. LS series and RC90 Connection LS3 series Manipulator (Figure: LS3-401S) RC90 Controller M/C Power Cable M/C Signal Cable RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 42: Noise Countermeasures

    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. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 43: Operation Mode (Teach/Auto/Test)

    AUTO mode. TEST mode Turn the mode selector key switch to “Teach” for “TEACH” mode. Push <F1> key-[Test Mode] in [Jog & Teach] dialog of TEACH mode. The mode will be changed to TEST RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 44: Program Mode (Auto)

    Follow the procedures below to switch to the Program mode. 4.3.2 Setup from EPSON RC+ 7.0 Switch the mode to Program mode from the EPSON RC+ 7.0. (1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System Configuration] dialog.

  • Page 45: Auto Mode (Auto)

    Procedures for switching to the Auto mode (AUTO) are the followings. A : Set the start mode of the EPSON RC+ 7.0 to “Auto” and start the EPSON RC+ 7.0. (Refer to Setup & Operation 4.4.2 Setup from EPSON RC+ 7.0.) B : Offline the EPSON RC+ 7.0.

  • Page 46: Setup From Control Device

    Setup & Operation 4. Operation Mode (TEACH/AUTO/TEST) 4.4.3 Setup from Control Device Set the control device from EPSON RC+ 7.0. (1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System Configuration] dialog. (2) Select [Controller]-[Configuration]. (3) Select [Control Device] to select the control device from the following two types.

  • Page 47: Development Pc Connection Port

     User’s Guide 5.12.1 PC to Controller Communications Command. For RC90, be sure to install the EPSON RC+ 7.0 to the development PC first, then connect the development PC and RC90 with the USB cable. If RC90 and the development PC are connected without installing the EPSON RC+ 7.0 to the development PC, [Add New Hardware Wizard] appears.

  • Page 48: Precaution

    5.3 Software Setup and Connection Check Connection of the development PC and the Controller is indicated. (1) Make sure that software EPSON RC+ 7.0 (Ver.7.0.2 or later is recommended) is installed to the Controller connected to the development PC. (Install the software when it is not installed.

  • Page 49: Disconnection Of Development Pc And Controller

    EPSON RC+ 7.0. 5.4 Disconnection of Development PC and Controller Disconnection of 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.

  • Page 50: Memory Port

    6.1 What is Controller Status Storage Function? This function saves various kinds of Controller data with one push to the USB memory. Data saved in USB memory is loaded to EPSON RC+ 7.0 to get the status of the Controller and the program simply and accurately.

  • Page 51: Controller Status Storage Function

    USB memory or execute the storage during Motor OFF status. 6.3.2 Load Data with EPSON RC+ 7.0 The following shows the procedure to read the data stored in the USB memory by EPSON RC+ 7.0 and display the Controller status.
  • Page 52 (6) [Browse For Folder] dialog appears. Select the folder copied in procedure (3) and click the <OK> button. (7) [Controller Status Viewer] dialog appears to confirm the Controller status. For details, refer to View Controller Status in EPSON RC+ 7.0 User’s Guide 5.11.8 Controller Command (Tools Menu). RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 53: Transfer With E-Mail

    NOTE Delete files that do not relate to the project before transfer.  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 status storage function.

  • Page 54: Lan (Ethernet Communication) Port

    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.

  • Page 55: Changing Controller Ip Address

    (1) For connection between the development PC and the Controller, refer to Setup & Operation 5. Development PC Connection 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.

  • Page 56: Connection Of Development Pc And Controller With Ethernet

    (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.

  • Page 57: Disconnection Of Development Pc And Controller Withethernet

    <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.

  • Page 58: Tp Port

    When the Teach Pendant is not connected, connect the TP bypass plug. Do not connect the following devices to the TP port of RC90. Connecting these devices may result in malfunction of the device since the pin assignments are different.

  • Page 59: Emergency

    Setup & Operation 9. EMERGENCY EMERGENCY NOTE The details of safety requirements for this section are described in EPSON RC+ 7.0 2.  Safety. Please refer to them to keep the robot system safe. Connect a safeguard switch or Emergency Stop switch to the Controller EMERGENCY connector for safety.

  • Page 60: Safety Door Switch

    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. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 61: Checking Latch Release Switch Operation

    The latch release input also functions to acknowledge the change of to TEACH mode. NOTE  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. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 62: Emergency Stop Switch Connection

    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 RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 63: Pin Assignments

     The 24 V output is for emergency stop. Do not use it for other purposes. Doing so may result in system malfunction.  Doing so may result in Do not apply reverse voltage to the Emergency Stop circuit. CAUTION system malfunction. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 64: Circuit Diagrams

    AC Input ESTOP2− Emergency Stop detection External +24V Safety Door input 1 Safety Door input 2 Latch release input External +24V Latch release input Close :Latch off NOTE:+24V GND Open :Latch on + 5V GND RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 65: Example 2: External Safety Relay Typical Application

    Emergency Stop detection External +24V GND External +24V Safety Door input 1 Safety Door input 2 Latch Release input External NOTE:+24V GND Latch release input Close :Latch off +24V + 5V GND Open :Latch on RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 66: Standard Rs-232C Port

    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. Select the [RS232]-[RS232].

  • Page 67: Rs-232C Software Communication Setup (Rs-232C)

    Odd, even, NA Terminator CR, LF, CRLF 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.

  • Page 68: I/O Connector

    (Same) 5 Input No.3 (Same) 6 Input No.4 (Same) 7 Input No.5 (Same) 8 Input No.6 (Same) 9 Input No.7 (Same) 18 Input No.8 to 15 common 19 Input No.8 (Same) 20 Input No.9 Omit RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 69: Typical Input Circuit Application 2

    (Same) 5 Input No.3 (Same) 6 Input No.4 (Same) 7 Input No.5 (Same) 8 Input No.6 (Same) 9 Input No.7 (Same) 18 Input No.8 to 15 common (Same) 19 Input No.8 20 Input No.9 Omit RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 70: Output Circuit

    ■ Be sure to wire the output circuit properly because it has no protection circuitry for short-circuit and reverse-connection. Improper wiring may cause malfunction of the parts on the board and then improper function of the robot system. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 71: Typical Output Circuit Application 1: Sink Type

    (Same) 14 Output No.4 (Same) 15 Output No.5 (Same) 27 Output No.6 (Same) 28 Output No.7 (Same) 17 Output No.0 to 7 Common (GND) 29 Output No.8 30 Output No.9 ～ ～ ～ ～ Omit RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 72: Typical Output Circuit Application 2: Source Type

    13 Output No.3 (Same) 14 Output No.4 (Same) 15 Output No.5 (Same) 27 Output No.6 (Same) 28 Output No.7 (Same) 33 Output No.8 to 15 Common 29 Output No.8 30 Output No.9 ～ ～ ～ Omit ～ RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 73: Pin Assignments

    Connector Standard D-sub 50 male pin I/O Connector (Controller side) Mounting style #4 - 40 * The I/O connector, I/O cable, and terminal block are offered as options. * I/O connector is included with shipment. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 74: I/O Remote Settings

    For details about I/O cable connection, refer to sections on Setup & Operation 11. I/O Connector and 13.2. Expansion I/O Board and 13.3 Fieldbus I/O Board. For details about communication with external equipment, refer to EPSON RC+ 7.0 User’s Guide -12. Remote Control.

  • Page 75: 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).
  • Page 76 Same signal as the input will be output to ALIVE output. The master equipment can perform ALIVE Not Set alive monitoring of the controller by switching the input periodically and checking the output signal. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 77 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.
  • Page 78 Grease of the robot connected to DU2 Battery of the robot connected to DU3 Grease of the robot connected to DU3 0=OFF, 1=ON (*11) The specified alarm can be canceled by selecting the conditions using SelAlarm1-SelAlarm8 and setting this signal. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 79: Remote Output Signals

    Indicates the error number. Not set ErrorCode8192 InsideBox1 Turns ON when the robot is in the approach check area. For details, refer to EPSON RC+ 7.0 Online Help or Box Not set in SPEL Language Reference. InsideBox15 RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 80 Setup & Operation 12. I/O Remote Settings Name Initial Description InsidePlane1 Turns ON when the robot is in the approach check plane. For details, refer to EPSON RC+ 7.0 Online Help or Not set Plane in SPEL Language Reference. InsidePlane15 Alarm Not set Turns ON when any of the alarms is occurring.
  • Page 81 - The setting is Auto mode and the control device is remote. - The setting is Program mode and Remote I/O is enabled. (*3) For details, refer to EPSON RC+ 7.0 Online Help or Box in SPEL Language Reference. (*4) For details, refer to EPSON RC+ 7.0 Online Help or Plane in SPEL Language Reference.

  • Page 82: Timing Specifications

    * Paused Output SelProg1 Input Start Input Pause Input Continue Input Stop Input * The duration varies depending on the Quick Pause (QP) setting and the program’s operating status at the time of Pause input RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 83: Timing Diagram For Safety Door Input Sequence

    12.2.4 Timing Diagram for Safety Door Input Sequence Running 1052 Output 1052 Paused Output SafeguardOn Output MotorsOn Output Safety Input Latch Input Continue Input 12.2.5 Timing Diagram for Emergency Stop Sequence Running Output MotorsOn Output EStopOn Output Emergency Input Reset Input RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 84: Option Slots

    13. Option Slots 13.1 What are Option Slots? Use the Option Slot to install the optional boards of RC90 Controller. Up to two option boards can be installed in the controller. The types of the option boards are as follows: 13.2 Expansion I/O Board...

  • Page 85: Confirmation With Epson Rc+ 7.0

    I/O 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 [Controller]-[Inputs / Outputs].
  • Page 86 (Same) 5 Input No.67 (Same) 6 Input No.68 (Same) 7 Input No.69 (Same) 8 Input No.70 (Same) 9 Input No.71 (Same) 18 Input No.72 to 79 common (Same) 19 Input No.72 20 Input No.73 Omit RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 87: Output Circuit

    ■ Be sure to wire the output circuit properly because it has no protection circuitry for short-circuit and reverse-connection. Improper wiring may cause malfunction of the parts on the board and then improper function of the robot system. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 88 (Same) 14 Output No.68 (Same) 15 Output No.69 (Same) 27 Output No.70 (Same) 28 Output No.71 (Same) 17 Output No.64 to 71 Common (GND) 29 Output No.72 30 Output No.73 ～ ～ ～ ～ Omit RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 89 13 Output No.67 (Same) 14 Output No.68 (Same) 15 Output No.69 (Same) 27 Output No.70 (Same) 28 Output No.71 (Same) 33 Output No.72 to 79 Common 29 Output No.72 30 Output No.73 ～ ～ ～ Omit ～ RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 90: Pin Assignments

    Output common No.64 to 71 Connector Standard D-sub 50 male pin I/O Connector (Controller side) Mounting style #4 - 40 * The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 91: Fieldbus I/O Board

    Setup & Operation 13. Option Slots 13.3 Fieldbus I/O Board Refer to the following manual. Robot Controller RC700/RC90 option Filedbus I/O RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 92: Rs-232C Board

    Board Appearance Switch and Jumper Configuration Set DSW1, DSW2 and JMP1. CN3 is all open. board board (#2 or #4) JMP1 IRQ5 IRQ5 IRQ7 IRQ7 (#3 or #5) IRQ10 IRQ10 DSW1 IRQ11 IRQ11 DSW2 IRQ15 IRQ15 RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 93: Confirmation With Epson Rc+ 7.0 (Rs-232C)

    7, 8 Stop bit length 1, 2 Parity Odd, even, NA Terminator CR, LF, CRLF Refer to EPSON RC+ 7.0 Online Help or Users Guide – 13. RS-232C Communications for RS-232C communication from the Robot application. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 94: Communication Cable (Rs-232C)

    Pin No Signal Function Signal Direction Data carrier detect Input Receive data Input Send data Output Terminal ready Output Signal ground Data set ready Input Request to send Output Clear to send Input Ring indicator Input RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 95: Maintenance

    Maintenance This section contains maintenance procedures for the Robot Controller.

  • Page 97: Safety Precautions On Maintenance

    ■ Do not shock, shake, or drop any parts during maintenance. When the parts CAUTION related with data are shocked physically, they may be damaged and may also cause data loss during data loading/saving. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 98: Lockout / Tagout

    When performing maintenance and repair, lockout and tagout using the following procedure. Use the lockout attachment for RC90. Installing the Lockout Attachment Turn OFF the POWER switch and place the lockout attachment on the POWER switch.

  • Page 99: Padlock Size And Weight

    When using the padlock, do not use the controller where it is subject to vibration or shock, otherwise failure or damage may result. ・ Do not apply a force of more than 50N on the lockout attachment, otherwise the lockout attachment will be damaged. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 100: Regular Maintenance Inspection

    The error may occur due to reduction of the fun rotation. Duration 5 minutes 5 minutes 20 minutes 15 minutes (reference) Reference: Maintenance Fan Filter Fan Filter Battery Expected 30,000 hours product life RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 101: Controller Structure

    Switching Power Supply Module Switching Power Supply Module Switching Power Supply Module Option Slots Battery DMB Sub Board 3.2 Diagram of Cable Connections For the electrical connections of the Controller, refer to the following diagram. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 102: Backup And Restore

    For some problems, backup may not be available before maintenance has to be performed. Be sure to backup the data after making changes, before problems occur. “Controller Status Storage” is one of the RC90 functions. It saves the Controller setup NOTE ...

  • Page 103: Backup

    Maintenance 4. Backup and Restore 4.3 Backup Backup the Controller status from the EPSON RC+ 7.0. (1) Select EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog. (2) Click the <Backup Controller…> button to display the [Browse For Folder] dialog.

  • Page 104: Restore

    ■ Do not edit the backup files. Otherwise, operation of the robot system after data CAUTION restoration to the Controller is not assured. (1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog. (2) Click the <Restore Controller…> button to display the [Browse For Folder] dialog.
  • Page 105 The default is unchecked. When a project is restored, the values of Global Preserve variables are loaded. For details about Global Preserve variable backup, refer to EPSON RC+ 7.0 User’s Guide 5.10.10 Display Variables Command (Run Menu). Vision hardware configuration This checkbox allows you to restore the vision hardware configuration.

  • Page 106: Firmware Update

    Controller firmware is supplied by CD-ROM as needed. Please contact us for information. You must use a PC running EPSON RC+ 7.0 connected to a Controller with USB to update the Controller firmware. Firmware cannot be updated with an Ethernet connection.
  • Page 107 (7) Check the current firmware version and the new firmware version and click the <Install> button. (8) The firmware upgrade starts. It takes several minutes to complete. NOTE Do not unplug the USB cable during transfer or turn OFF the Controller or the  development PC. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 108 (10) The following dialog appears when transfer has completed. Click the <Next> button to reboot the Controller. (11) The following dialog appears after the Controller reboot. Click the <Finish> button. The firmware upgrade is complete. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 109: Controller Recovery

    Controller to start in Recovery mode. (3) Make sure that the LED of ERROR, TEACH, and PROGRAM are lighting. (4) Follow the procedure in Maintenance 5.4 Firmware Initialization Procedure from step (3) to initialize the firmware. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 110: Firmware Initialization Procedure

    (1) Connect the development PC to the Controller with a USB cable (the firmware cannot be changed with an Ethernet connection). (2) Turn ON the Controller. Do not start the development software EPSON RC+ 7.0 until firmware initialization is complete.
  • Page 111 (10) The following dialog appears after the Controller reboot. Click the <Finish> button. The firmware upgrade is completed. Start EPSON RC+ 7.0 and restore the Controller settings. For details of restoring the operating system, refer to Maintenance 4. Backup and Restore.

  • Page 112: Alarm

    SCARA robot: Ball screw spline unit on the Joint #3 When the robot is deleted from the configuration, the alarm will also be automatically deleted. For details on the robot configuration, refer to the EPSON RC+ 7.0 User’s Guide 10.1 Setting the Robot Model. ...

  • Page 113: Controller Battery

    For details on the alarm information editing, refer to Maintenance 6.3 How to Edit the Alarm Information. 6.1.2 Controller Battery The controller battery is automatically configured at the first connection with the EPSON RC+7.0 after upgrading to the firmware version 7.1.0.0 and later. NOTE If you are using the controller before the version upgrade, there may be a difference in the ...

  • Page 114: How To Edit The Alarm Information

    6.4 Alarm Notifying Method The alarm notifying method needs to be configured by the output bit of the Remote I/O. The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System Configuration] - [Controller] - [Remote Control].

  • Page 115: How To Cancel The Alarm

    By referring to Maintenance 6.3 How to Edit the Alarm, change the alarm information in the same steps. 6.5.2 Remote Input The alarm can be canceled by the input bit of the Remote I/O. For details, refer to the EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 116: Maintenance Parts Replacement Procedures

    (1) Set the fan filter to the fan filter cover. Installation (2) Mount the fan filter cover with two screws. (3) Plug in the power connector. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 117: Fan

    (2) Connect the fan cables to the DMB. (3) Mount the Top Panel. (Mounting screws ×10) (4) Plug in the power connector. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 118: Battery

    ・Forced Discharge CAUTION ■ Be sure to use the battery supplied as maintenance part from EPSON. (Refer to Maintenance 10. Maintenance Parts List.) ■ When disposing of the battery, consult with the professional disposal services or comply with the local regulation.

  • Page 119: Cf (Compact Flash)

    (2) Tighten the CF mounting screw (×1). (3) Mount the Top Panel. (Mounting screws ×10) (4) Plug in the power connector. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 120: Mdb

    (6) Pull out the MDB clamp for the upright mounting. (7) Remove the screws on the chassis side surface (×2). (8) Remove the MDB clamp. (Mounting screw ×2) (9) Pull out the MDB in the direction shown in the picture. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 121 (7) Mount the Top Panel. (Mounting screws ×10) (8) Plug in the power connector. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 122: Dmb

    Refer to Maintenance: 7.2 Fan. (9) Remove the cover for the M/C Power Connector. (10) Remove the screw of the clamp for the M/C Power Cable (×1) and screws of the M/C Power Connector (×2). RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 123 (11) Remove the FG line of the M/C Power Cable. (12) Pull out the M/C Power Cable from the chassis front side. (13) Remove the DMB from the chassis. At this point, be careful not to touch the chassis and other parts. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 124 (5) Remove the cover for the M/C Power Connector. (6) Mount the fan. Refer to Maintenance: 7.2 Fan. (7) Tighten the DMB mounting screw (×14). (8) Connect the connectors (×4). (9) Mount the MDB. Refer to Maintenance: 7.5 MDB RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 125 I/O Connector RS-232C Connector (11) Mount the Top Panel. (Mounting screws ×10) (12) Plug in the power connector. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 126: Dmb Sub Board

    Refer to Maintenance: 7.6 DMB. (5) Mount the Top Panel. (Mounting screws ×10) (6) Plug in the power connector. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 127: Option Board

    At this point, one screw for the Option Slot Panel is left unused. (8) Secure the L-shaped plate and Option Board with the attachment screw. (9) Mount the clamp of the power cable. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 128 Maintenance 7. Maintenance Parts Replacement Procedures (10) Mount the Top Panel. (Mounting screws ×10) (11) Plug in the power connector. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 129: Verifying Robot System Operation

    - No error is displayed. - There is servo excitation and the Manipulator operates normally. (4) Execute various motion commands (such as JUMP, etc.). The Manipulator must operate accordingly and normally without vibration or unusual sounds. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 130: Troubleshooting

    Termination due to low voltage of the power supply. Stores this log when the controller is Controller control program has completed. rebooted from EPSON RC+ or TP1. Preserve variables save area has been cleaned. Function Main started. Function Main started. Later same logs Skip the log "Function Main started."...
  • Page 131 If normal voltage is not generated by a 100 times of 100 times of encoder and fan is lower than the specified 24V power supply alone, replace the boundary current value voltage. power supply. value RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 132 100 times of DU2 Internal temperature of the Controller 100 times of temperature of Drive Unit 2 is not high. boundary is higher than the allowed temperature. current value Check whether the filter is not clogged value RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 133 1000 times of high. Check the installation environment Camera No. rebooted, check the installation current value (ventilation, ambient temperature, etc.) environment (surrounding space, ambient temperature) of the compact vision. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 134 Reboot the controller. controller. Turn OFF the conteoller and replace the battery. Low voltage from the encoder battery. For the battery replacement procedure, Replace the battery. refer to Maintenance in the Manipulator manual. Servo alarm D. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 135 Program mode. Cannot execute while tasks are 1031 Stop the task and then execute. executing. Cannot execute while the maximum 1032 Stop the task and then execute. number of tasks are executing. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 136 1. Reboot the controller. 1100 File failure. Cannot access the file. 2. Reinstall the firmware. 3. Replace the CF. File failure. Read and write failure of 1. Reboot the controller.. 1102 the registry 2. Replace the CF. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 137 Failed to read the project file. 1. Retry using the same USB memory. File failure. 1143 2. Retry using another USB memory. Failed to open the condition save file. 3. Retry after rebooting the controller. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 138 Failed to save the backup information file. Cannot restore the controller The backup data was created by an old configuration in the specified procedure 1189 version. for using old backup data. Check the backup data. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 139 Check the connection between the 1503 Disconnection while executing a task. console device and controller. Communication disconnection between Remote Ethernet and Check the connection between the 1504 Controller. Re-establish Remote Ethernet device and controller. communication. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 140 USB cable. Communication failure. 1552 Controller internal communication Reboot the controller. error. Communication failure. 1553 Invalid data is detected. Check the connection between the 1555 Ethernet transmission error. EPSON RC+7.0 and controller. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 141 Failed to read or write the file on the 1803 Initialization failure. 1804 Failed to allocate memory on the PC. Connection failure. Check the controller startup and 1805 connection of the communication cable. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 142 1. Reboot the EPSON RC+7.0. 1810 Uncommon error. 2. Reboot the PC. Connection failure. Connected controller is RC180 or RC90 The connected controller is not compatible with EPSON RC+ 5.0. 1812 supported in EPSON RC+ 7.0. Check the connection between the PC Please use EPSON RC+ 5.0.
  • Page 143 Note 2 1880 Cannot execute during controller reset. Unsupported. 1901 Update the firmware. Unsupported command was attempted. Unsupported. 1902 Unsupported parameter was specified. 1903 System error. System error. 1910 Failed to write the reboot file. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 144 Cannot process the variable wait. Rebuild the project. Build the project. Stack table number exceeded. Check whether no function is called 2020 Function call or local variable is out of infinitely. Reduce the Call function range. depth. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 145 Synchronize the files of the project. 2055 Local variable ID failure. Rebuild the Rebuild the project. project. Object file operation failure. Synchronize the files of the project. 2056 Global variable ID failure. Rebuild Rebuild the project. the project. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 146 Failed to initialize motion. Initialization failure. Reboot the controller. 2112 Failed to terminate motion. Initialization failure. 2113 Replace the CPU board. Failed to map SRAM. Initialization failure. 2114 Replace the CPU board. Failed to register SRAM. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 147 DU Init Error. 2145 Failed to start communication with Reboot the control unit and drive units. drive units. DU Init Error. 2146 Timeout when starting communication Reboot the control unit and drive units. with drive units. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 148 Failed to obtain the Global Preserve variable. variable address. Operation failure. Review the size of the global preserve 2167 Not enough buffer to store the Global variable. Preserve variable. Operation failure. 2168 Reboot the Controller. SRAM is not mapped. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 149 The motion command for the robot Robot in use. cannot be simultaneously executed from 2200 Cannot execute the motion command more than one task. Review the when other tasks are using the robot. program. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 150 Check the CalPls setting. Available Arm number is from 0 to 3. Depending on commands, the Arm The specified 2226 Arm number is out of range. number 0 is not available. Review the Arm number program. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 151 Rebuild the executed for an array variable. project. Array failure. Cannot specify Other than a single dimension array was 2249 Preserve for other than a single specified as Preserve for Redim. dimension array. Rebuild the project. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 152 The specified number representing a control device or display device is out of The specified 2272 Device No. is out of available range. available range. For available device device number number, see the online help. Review the program. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 153 I/O command cannot be executed in 2297 TEACH mode without the Forced TEACH mode. Review the program. parameter. You cannot execute Cont and Recover Cannot continue execution in Trap 2298 statements with processing task of Trap SGClose process. SGClose. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 154 2319 Check the emergency stop status. during emergency stop condition. Function failure. Argument type does 2320 Rebuild the project. not match. Function failure. Return value does 2321 Rebuild the project. not match to the function. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 155 Review the program. I/O input/output bit number is out of Check whether the expansion I/O board 2344 available range or the board is not Bit number and Fieldbus I/O board are correctly installed. detected. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 156 GoSub is invalid. Going in or out of Review the program. a For...Next using a Goto statement. Cannot execute Return while executing 2382 Review the program. OnErr. Return was used without GoSub. 2383 Review the program. Review the program. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 157 Error message failure. 2430 Reboot the controller. Error message file does not exist. Error message failure. 2431 Reboot the controller. Failed to open the error message file. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 158 The database is not open. Open the database. Database Error. 2462 The database number is being used by Review the program. another task. Windows Communication Error. Reboot the Controller. 2470 Invalid status. Rebuild the project. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 159 Review the program. The specified point label is not 2513 Specified point label is not defined. registered. Check the point file. Failed to obtain the motor on time of 2514 Reboot the controller. the robot. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 160 The specified work queue number is Available work queue number s are from 2542 invalid. 1 to 16. Review the program. Specified sequence name cannot be 2543 Invalid sequence was specified. found. Review the sequence name. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 161 Failed to write to the Ethernet port. properly. Check whether the Ethernet Port number cable is connected properly. Ethernet port connection was not Check whether the port of 2914 Port number completed. communication recipient is open. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 162 2955 was higher than the specified If there is no problem on the filter and temperature. fan, replace the regenerative module. MNG failure. 2970 Reboot the Controller. Area allocate error. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 163 Collision Detection object is placed in the direction of the robot motion. AbortMotion attempted when robot 2998 See Help for AbortMotion. was not moving AbortMotion attempted when robot 2999 See Help for AbortMotion. was moving RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 164 Array number of dimensions does not 3116 Check the number of array dimensions. match the declaration. The file that configures the project 3117 File cannot be found. cannot be found. Check the project folder if the file exists. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 165 BGo, Go, TGo, Arc, Arc3, BMove, 3134 Cannot specify Sense parameter. Move, and TMove statements. Correct the program. Invalid parameter is specified in Xqt, and 3135 Invalid parameter is specified. Call statements. Correct the program. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 166 Indent length is beyond the available 3143 characters so as not to exceed the size. available length. For details of the available length, refer to EPSON RC+ User’s Guide “6.4 Function and Variable Names (Naming restriction)”. Correct the identifier ' ** ' or the 3144 ' ** ' already used for a function name.
  • Page 167 Cannot change a calibration property 3180 in VSet statement. Correct the value with the VSet command. program. Array variable should be used with ByVal cannot be specified for the array 3181 ByRef. variable. Specify the ByRef parameter. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 168 3205 Point is not specified. Specify a point. 3206 Event condition expression is missing. Add an event condition expression. 3207 Formula is missing. Add a formula. 3208 String formula is missing. Add a string formula. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 169 Memory word label was not specified. function. Specify a valid memory word label. User error label is not specified in Error 3226 User error label was not specified. statement. Specify a valid user error label. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 170 Statement” and specify a proper data bit length. Stop bit length is not specified in SetCom statement. Refer to SPEL+ 3240 Stop bit number was not specified. Language Reference “SetCom Statement” and specify a proper stop bit length. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 171 SPEL+ Language Reference “DispDev Statement” and specify a proper device I/O type is not specified in IOLabel$ function. Refer to SPEL+ 3253 I/O type was not specified. Language Reference “IOLabel$ Function” and specify a proper I/O type. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 172 VSet and VGet statements. not specified. Add a property name. Task type is not specified in Xqt statement. Refer to SPEL+ Language 3267 Task type was not specified. Reference “Xqt Statement” and specify a proper task type. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 173 Property” and specify a proper setting value. SizeMode property setting value is not specified in GSet statement. Refer to 3279 SizeMode was not specified. GUI Builder 7.0 manual “SizeMode Property” and specify a proper setting value. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 174 Specify a file number by an integer from 30 to 63 or an expression. Database type is not specified in OpenDB statement. Refer to SPEL+ 3292 Database type was not specified. Language Reference “OpenDB Statement” and specify a proper database type. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 175 Duplicate global preserve variable. is used for more than one file. Correct the program (variable name). The same global variable name is used 3309 Duplicate global variable. for more than one file. Correct the program (variable name). RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 176 The number of variables which is using The number of variables which is Wait command is exceeding the 3334 using Wait command is beyond the maximum allowed (64). Delete the maximum allowed. variables and rebuild the project. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 177 P (start : end) CodeType property setting value is not specified in VSet statement. Refer to 3410 Code type is not specified. Vision Guide 7.0 Properties & Results Reference “CodeType Property” and specify a proper setting value. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 178 ComapreType parameter to set judgment condition is not specified in Force_SetTrigger statement. 3419 CompareType is not specified. Refer to SPEL+ Language Reference “Force_SetTrigger Statement” and specify a proper parameter. Integer or Short type array variable is 3420 only available. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 179 Another macro with the same name has 3500 Duplicate macro in #define statement. been defined. Change the macro name. Macro name is not specified in #define, 3501 Macro name was not specified. #ifdef, #ifndef, and #undef statements. Add a macro name. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 180 BGo, TGo, Arc, Arc3, BMove, Move, 3605 use PerformMode parameter. and TMove statements. Delete the LJM parameter. Index number cannot be specified except Cannot use the index. List property in GSet and GGet 3606 statements. Correct the program. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 181 Functions for condition expression of the user defined remote output are limited. Specified function cannot be used with 3812 Refer to EPSON RC+7.0 User’s Guide a Remote User Output. “11.8 User-defined Remote Output I/O” and specify a valid function. User defined label, function and variable...
  • Page 182 Rebuild the project. 3916 Invalid ICode. Rebuild the project. 3917 Invalid ICode. Rebuild the project. 3918 Invalid ICode. Rebuild the project. 3919 Invalid ICode. Rebuild the project. 3920 Invalid ICode. 3921 Invalid ICode. Rebuild the project. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 183 Check whether the robot does not Cannot complete the arm positioning generate vibration or all parts and screws 4024 using the current Fine specification. are secured firmly. Increase the Fine setting value. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 184 2, 3, 4, and 6. Create a Curve number is out of the allowable range. file again with the Curve statement. Curve failure. Point data was not Create a Curve file again with the Curve 4047 specified. statement. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 185 You attempted to revolve 4065 with the same orientation in CP the joint 6 one rotation with the same as statement. motion start orientation. Change the target point so that the joint #J6 revolves less than one rotation. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 186 Change to the dry run mode and execute. run mode. Check the amount of free space of the computer. 4087 Failed to format the playback file. Reboot the computer. Reinstall the RC+. Replace the computer. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 187 Manipulator name is too long. Manipulator initialization failure. 4183 Reconfigure the manipulator. Manipulator data version error. Manipulator initialization failure. Reboot the controller. 4187 Communication error with the Initialize the controller firmware. module: VSRCMNPK. Replace the controller. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 188 DMB. noise. Replace the DMB. Failure of duplicate circuit of the Check the wiring of the emergency stop 4223 emergency stop or the safeguard. or the safeguard. Check the wiring. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 189 (Emergency, D-I/O, and Expansion I/O connectors) You attempted to operate the robot with the acceleration reference exceeding the Improper acceleration reference was 4242 specified value. generated. For a CP motion, decrease the AccelS value. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 190 Attempt to exceed the particular arm without the Hand indication. 4270 orientation attribute without Change the Hand attribute for the target indication. point. Change the target point to avoid a particular hand orientation. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 191 Continue operation cannot be done in Tracking motion cannot be continued 4403 tracking motion. after aborted/paused? The specified conveyor queue data Review the queue number. Or, check 4404 does not exist. whether the queue is registered. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 192 The setting of Diagonal Upstream upstream/downstream limit is horizontal 4415 Limit or Diagonal Downstream Limit to the conveyor direction. Review the is not appropriate. setting of diagonal upstream/downstream limit. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 193 Replace the DMB and encoder I/F board. Serial encoder initialization failure. Check the robot configuration. Reboot the controller. 5010 Check the signal cable connection. Check the motor, the DMB, or the Replace the DMB and encoder I/F board. encoder IF board. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 194 Replace the resolver board. Resolver’s excitation signal is Check the signal wiring of the disconnected. manipulator (loose pin, disconnection, 5026 Reset the encoder or check for the short). resolver board and manipulator Replace the resolver board. internal wiring. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 195 Check the power cable connection. connection, robot, brake, driver, or Check the robot power wiring. (Missing motor. pin, disconnection, short-circuit) Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 196 Check the power cable connection. motor. Check the robot power wiring. (Missing pin, disconnection, short-circuit) Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 197 Check the power cable connection. robot, brake, driver, or motor. Check the robot power wiring. (Missing pin, disconnection, short-circuit) Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 198 5072 Servo alarm B. Reboot the controller. Lower the motion duty. Motor is overloaded. Decrease the Check the Weight/Inertia setting. 5080 duty and the Accel. Check the robot. (Backlash, large load, loose belt tension, brake) RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 199 Clean the cooling fan filter. Clean the controller fan filter. Check Lower the motion duty. 5099 the ambient temperature. Decrease Check the Weight/Inertia setting. the duty. Lower the ambient temperature. 5112 Servo alarm C. Reboot the controller. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 200 Set a value in the valid range. value(-11006) Vision process Invalid Blob property 6536 Set a value in the valid range. NumberToFind value (-11007) Vision process Invalid Blob property MinArea 6537 Set a value in the valid range. value (-11008) RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 201 ScaleTargetPriority value (-11528) Vision process Invalid Geom property 6578 Set a value in the valid range. SearchReducedImage value (-11529) Vision process Invalid Geom Model property 6586 Set a value in the valid range. DetailLevel value (-11602) RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 202 Or, change the setting Checksum error (-1010) not to use the checksum. Ensure a quiet zone (blank margin) Vision process Code Reader 6654 around the code. Set the quiet Invalid quiet zone (-1011) zone narrower. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 203 Maintenance 9. Troubleshooting Message Remedy Note 1 Note 2 Vision process Code Reader 6655 Change the code. Message is too long (-1012) Vision process OCR 6686 Delete the registered characters. Recognition dictionary is full (-2132) RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 204 Point area is allocated beyond the There are too many points. 7028 available point number. Review the number of points. Specified point file name is not 7029 correct. Specify a valid point file Check the file extension. name. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 205 The specified work queue number is 7045 Check the specified work queue number. invalid. The work queue is full. Delete the 7046 The specified work queue is full. point data from the work queue and register. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 206 The fieldbus is broken or the controller software is damaged. Restore the controller firmware. The PLC is not running or not connected. Check the PLC, the communication cable, and peripherals. (If Code 1 is 22 when the CC-Link board is used.) RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 207 Check the port number to close. 7254 The specified port is not Check the port number to open. Check the port timeout period and 7255 Timeout reading from the port. update to the appropriate setting. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 208 7261 Invalid function. Check the function definition to call. 7262 Invalid parameters. Check the function definition to call. 7263 Cannot execute while creating DLL. 7264 Failed to create DLL. 7265 DLL file cannot be found. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 209 Cannot execute a Vision statement Execute the command from the program. from the command window. Smart camera. Initialize the camera. 7500 Out of memory. Reduce the project size. Smart camera. 7501 Rebuild the project. Project does not exist. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 210 7529 Camera does not exist. Check the camera connection. 7530 Acquisition failed. Check the camera connection. 7531 Vision object is not taught. Teach the model. 7532 Image file cannot be read. Check the image file. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 211 Check the wiring of the camera. Invalid Radius. Radius must be >= 7549 Correct the property value. RadiusInner and <= RadiusOuter. 7550 OCR character does not exist. Register the OCR character. 7551 OCR option is not active. Enable the option. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 212 Specify another destination. same. 7711 Point file name is used by another robot. Check the point file name. Check whether the specified axis is 7712 Invalid axis specified. valid. Check if the axis is specified correctly. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 213 Failed to read the manipulator definition Check if the definition file exists. file. Simulator. 7766 Reboot the RC+. Failed to copy the layout object. Simulator. 7767 Reboot the RC+. Failed to cut the layout object. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 214 Cannot access the file. 2. Reinstall the firmware. 7831 The motor type is invalid. Check the motor amplifier. MCD failure. 7840 Reboot the controller. Area allocate error. 7900 Fieldbus not installed. 7901 Fieldbus invalid parameter. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 215 Force sensing. 7951 Force sensor axis is invalid. Force sensing. 7952 Sensor read error Force sensing. 7953 Sensor initialization error. Force sensing. 7954 Sensor is not initialized. Force sensing. 7955 Sensor value exceeds maximum value. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 216 DU1 24 V input voltage for the motor brake, If normal voltage is not generated by 24V of 9023 encoder and fan is lower than the specified Drive Unit 1 power supply alone, replace the voltage. power supply. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 217 Initialization failure. If the manipulator is specified, check whether 9103 Failed to initialize the user output. the specified manipulator is registered. User output error 9104 Check the condition expression. Unexecutable command is specified RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 218 Control relay contact of the main circuit 9625 power supply is welded closed. Replace Replace the DMB. the DPB. Reboot the controller. Servo real time status failure. 9630 Replace the DMB. Check sum error. Check the noise countermeasures. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 219 Replace the DMB and encoder I/F board. Serial encoder initialization failure. Check the robot configuration. 9710 Reboot the controller. Check the motor, the Check the signal cable. DMB, or the encoder IF board. Replace the DMB and encoder I/F board. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 220 Reboot the Controller. 9729 DSP. Check the noise countermeasure. Check for DMB. Replace the DMB. High speed while the absolute encoder in Reset the encoder. 9730 OFF. Replace the motor. Encoder reset. 9732 Servo alarm A. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 221 Install the RC+7.0 to another 10504 for the RC620 Controller and cannot be computer. used for RC+7.0. 10505 The specified connection does not exist. Check the connection number. 10600 Frame grabber driver not installed. Install the driver. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 222: Cannot Connect The Development Pc And The Controller Using The Usb Cable

    !! Error: 1805, Connection Failure. Check the controller startup and connection of the communication cable.”” - Note that the driver name will be registered as “EPSON Robot Controller RC170” when you connect with the Controller RC90. RC90 (EPSON RC+ 7.0) Rev.8...

  • Page 223: Confirmation Using Windows Device Manager

    PC and the Controller must be connected with the USB cable. (2) Click Windows-[Control Panel]-<Performance and Maintenance>. (3) The [Performance and Maintenance] dialog appears. Click the <System> icon. (4) The [System Properties] dialog appears. Select the [Hardware] tab and click the <Device Manager> button. RC90 (EPSON RC+ 7.0) Rev.8...
  • Page 224 !! Error: 1805, Connection failure, check the controller startup and connection of the communication cable.” If “EPSON Robot Controller RC170” is not located under “Universal Serial Bus controllers” but located under “Other devices” in step (5), refer to Maintenance 9.2.2 When recognized under “Other devices”...

  • Page 225: Device Manager

    Maintenance 9. Troubleshooting 9.2.2 When recognized under “Other devices” in Windows Device Manager If “EPSON Robot Controller RC170” is recognized under “Other devices” in the Windows device manager as shown in the following dialog, delete “EPSON Robot Controller RC170” from the device manager and connect the USB cable again to correct the problem.

  • Page 226: Maintenance Parts List

    PROFINET module is mounted on the Fieldbus PROFINET Board R12N747056 Board. EtherNet/IP module is mounted on the Fieldbus EtherNet/IP Board R12N747061 Board. PG Board R12N748011 EtherCAT module is mounted on the Fieldbus EtherCAT Board R13NZ910CL Board. RC90 (EPSON RC+ 7.0) Rev.8...

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