Epson RC90 User Manual
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Epson RC90 User Manual

Robot controller. epson rc+ 7.0
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ROBOT CONTROLLER
RC90
(EPSON RC+ 7.0)
Rev.4
EM145C2707F

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Summary of Contents for Epson RC90

  • Page 1 ROBOT CONTROLLER RC90 (EPSON RC+ 7.0) Rev.4 EM145C2707F...
  • Page 3 ROBOT CONTROLLER (EPSON RC+ 7.0) Rev.4 Copyright © 2013-2014 SEIKO EPSON CORPORATION. All rights reserved. RC90 (EPSON RC+ 7.0) Rev.4...
  • 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.4...
  • 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.4...
  • Page 6 Factory Automation Division 7F, Jinbao Building No. 89 Jinbao Street Dongcheng District, Beijing, China, 100005 : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1120 EPSON Taiwan Technology & Trading Ltd. Taiwan 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.4...
  • Page 7 EPSON Korea Co., Ltd. Marketing Team (Robot Business) 27F DaeSung D-Polis A, 606, Seobusaet-gil, Geumcheon-gu, Seoul, 153-803 Korea : +82-(0)-2-3420-6692 : +82-(0)-2-558-4271 EPSON SALES JAPAN CORPORATION Japan 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.4...
  • Page 8 Teaching Pendant TP-3** Operator Panel OP1 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.4...
  • Page 10 RC90 (EPSON RC+ 7.0) Rev.4...

  • Page 11: Table Of Contents

    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 LS3 series and RC90 Connection ............25 3.5 Noise Countermeasures ............... 26 RC90 (EPSON RC+ 7.0) Rev.4...
  • 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.
  • 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 6.5 How to Cancel the Alarm ..............100 6.5.1 Alarm Cancellation Dialog ............100 6.5.2 Remote Input ................100 7. Maintenance Parts Replacement Procedures 7.1 Fan Filter ..................... 101 7.2 Fan ...................... 102 7.3 Battery ....................103 RC90 (EPSON RC+ 7.0) Rev.4 xiii...
  • Page 16 9.2 Cannot Connect the Development PC and the Controller using the USB cable ..................197 9.2.1 Confirmation Using Windows Device Manager ....... 198 9.2.2 When recognized under “Other devices” in Windows Device Manager ..............200 10. Maintenance Parts List RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 17 Safety This section contains information for safety of the Robot System.

  • Page 19: Safety

    WARNING This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly. CAUTION RC90 (EPSON RC+ 7.0) Rev.4...

  • 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.4...
  • Page 21 - 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.4...
  • Page 22  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.4...

  • 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

    Specification Model Robot Controller RC90 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 Up to 4 joints simultaneous control Joint 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.4...

  • Page 28: Outer Dimensions

    Setup & Operation 1. Specifications 1.3 Outer Dimensions [Unit : mm] RC90 (EPSON RC+ 7.0) Rev.4...

  • 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.4...
  • Page 30 (12) TP port Connects Teach Pendant TP1 (Option), TP2 (Option) and TP bypass plug. For details, refer to Setup & Operation 8. TP Port. Do not connect the following to the TP port of RC90. Connecting to the followings NOTE ...

  • 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.4...

  • Page 32: Safety Features

    The dynamic brake circuit is activated when irregularity with motor torque (motor output) is detected (in which case the Manipulator is out of control). Motor Speed Error Detection The dynamic brake circuit is activated when the system detects that the motor is running at incorrect speed. RC90 (EPSON RC+ 7.0) Rev.4...
  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...
  • 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.4...

  • Page 41: Connecting Manipulator To Controller

    Connection Check label attached on the front of the Controller. The Manipulator’s serial number is indicated on the signature label of the Manipulator. NOTE  LS series and RC90 Connection LS3 series Manipulator （Figure: LS3-401S) RC90 Controller...

  • 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.4...

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

    AUTO mode. Turn the mode selector key switch to “Teach” for “TEACH” mode. TEST 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.4...

  • 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.4...

  • 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 The details of safety requirements for this section are described in EPSON RC+ 7.0 2. NOTE  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 NOTE  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.4...

  • 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.4...

  • 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.4...

  • Page 63: Pin Assignments

    Latch Release rated input voltage range +24 V ±10% 18-19 pin Latch Release rated input current 10 mA/+24 V input The total electrical resistance of the Emergency Stop switches and their circuit should be 1 NOTE  Ω or less. RC90 (EPSON RC+ 7.0) Rev.4...

  • Page 64: Circuit Diagrams

    Motor Driver AC Input Emergency Stop detection External +24V Safety Door input 1 Safety Door input 2 Latch release input External NOTE:+24V GND +24V Latch release input Close :Latch off + 5V GND Open :Latch on RC90 (EPSON RC+ 7.0) Rev.4...

  • 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.4...

  • 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 - 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 (Same) 19 Input No.8 20 Input No.9 Omit RC90 (EPSON RC+ 7.0) Rev.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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 RecoverReqd output ON open. Pause input OFF Stop input OFF ResetAlarm Cancel the alarm (*11) Not Set SelAlarm1 SelAlarm2 Specify the alarm number to cancel Not Set SelAlarm4 (*10) SelAlarm8 RC90 (EPSON RC+ 7.0) Rev.4...
  • 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 (*10) If the robot number is specified, the functions specified for the 4 bits of “SelAlarm1, 2, 4, 8” will be executed. Robot number SelAlarm1 SelAlarm2 SelAlarm4 SelAlarm8 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.4...

  • 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.4...
  • Page 80 - 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 81 SelRobot16 are set. If not, information of Robot 1 will be output. (*7) Outputs information in Real format. (*8) Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the task manager. RC90 (EPSON RC+ 7.0) Rev.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...
  • 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.4...
  • 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.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • 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 - RS-232C Communications for RS-232C communication from the Robot application. RC90 (EPSON RC+ 7.0) Rev.4...

  • 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.4...

  • 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.4...

  • 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.4...

  • Page 100: Regular Maintenance Inspection

     8 months (2000 h)  9 months (2250 h)   10 months (2500 h)  11 months (2750 h)  12 months (3000 h)     13 months (3250 h)  RC90 (EPSON RC+ 7.0) Rev.4...

  • Page 101: Inspection Point

    Inspection Location Daily Monthly Quarterly Biannual Annual Check whether unusual Entire Controller sound or vibration      is occurring. Project and Make a backup of data. Whenever data is changed. system data RC90 (EPSON RC+ 7.0) Rev.4...

  • Page 102: 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.4...

  • Page 103: 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 104: 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 105: Restore

    ■ Do not edit the backup files. Otherwise, operation of the robot system after CAUTION data restoration to the Controller is not assured. (1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog. (2) Click the <Restore Controller…> button to display the [Browse For Folder] dialog.
  • Page 106 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 107: 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 108 (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.4...
  • Page 109 (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.4...

  • Page 110: 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.4...

  • Page 111: 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 112 (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 113: Alarm

    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. Changing of the robot should be done carefully. The alarm setting will be reset ...

  • Page 114: Controller Battery

    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. If you are using the controller before the version upgrade, there may be a difference in the NOTE ...

  • Page 115: 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 116: 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.4...

  • Page 117: 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.4...

  • Page 118: 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.4...

  • Page 119: 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 120: 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.4...

  • Page 121: 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.4...
  • Page 122 (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.4...

  • Page 123: 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.4...
  • Page 124 (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.4...
  • Page 125 (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.4...
  • Page 126 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.4...

  • Page 127: 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.4...

  • Page 128: 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.4...
  • Page 129 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.4...

  • Page 130: 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.4...

  • Page 131: 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 132 100 times of Internal temperature of the Controller is temperature of the controller is not times boundary higher than the allowed temperature. high. current value value Check whether the filter is not clogged RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 133 DU2 Rotating speed of the controller fan is 2 is not clogged up. If the warning is Boundary Current value below the allowed speed. (FAN1) not cleared after the controller is value rebooted, replace the fan. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 134 Encoder has been reset. Reboot the Reboot the controller. controller. Low voltage from the encoder battery. Replace the battery for the robot with Replace the battery with the controller ON. the controller ON. Servo alarm D. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 135 Enable the OP input. Does not allow Operation mode to be Change to the Auto mode with a console 1030 changed. in the Program mode. Cannot execute while tasks 1031 Stop the task and then execute. executing. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 136 One or more source files are updated. 1108 Rebuild the project. Please build the project. 1109 Not enough storage capacity. Increase free space of the USB memory. 1110 File is not found. 1111 Conveyor file was not found. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 137 File failure. 1146 Failed to read the conveyor file. File failure. 1150 Error history is invalid. File failure. 1151 Failed to map the error history. File failure. 1152 Failed to open the error history file. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 138 Failed to replace the PRM file. File failure. 1185 Failed to open the backup information file. File failure. 1186 Failed to read the backup information file. File failure. 1187 Failed to write the backup information file. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 139 Check the connection between the EPSON RC+7.0 and controller. Communicatio n timeout 2: USB cable Communication disconnection disconnection Check the connection between the 1502 between Controller. EPSON RC+7.0 and controller. Re-establish communication. reception failure communicatio n shutdown RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 140 Check the connection between the 1556 Ethernet reception error. EPSON RC+7.0 and controller. Check the connection between the 1557 USB transmission error. EPSON RC+7.0 and controller. Check the connection between the 1558 USB reception error. EPSON RC+7.0 and controller. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 141 Timeout during connection 1806 Ethernet. 1807 Timeout during connection via USB. Failed to install EPSON RC+ 7.0. 1808 USB driver is not installed. Install EPSON RC+ 7.0 again. Initialization failure. 1809 Failed to initialize PC daemon. PC daemon error.
  • Page 142 File cannot be found. Pallet failure. 1870 Number of points is beyond the maximum value. Connection failure. 1871 Virtual controller version is old. Connection failure. 1872 Files for simulator that used real controller cannot be found. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 143 Other virtual controllers are starting. 1880 Cannot execute during controller reset. Unsupported. 1901 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.4...
  • 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.4...
  • Page 145 Synchronize the files of the project. 2055 Local variable ID failure. Rebuild Rebuild the project. the 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.4...
  • Page 146 Failed to initialize motion. Initialization failure. 2112 Reboot the controller. 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.4...
  • Page 147 DU Init Error. 2145 Failed to start communication with Reboot the control unit and drive units. drive units. DU Init Error. Reboot the control unit and drive units. 2146 Timeout when starting communication with drive units. RC90 (EPSON RC+ 7.0) Rev.4...
  • 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.4...
  • Page 149 Cannot execute the motion command more than one task. Review the when other tasks are using the robot. program. Check whether the robot setting is 2201 Robot does not exist. performed properly. Restore controller configuration. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 150 0 is not available. Review the Arm number program. Check the Arm setting. Review the specified 2227 Arm number is not defined. program. Arm number Pulse for the home position is not 2228 Check the HomeSet setting. defined. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 151 Array failure. Failed to calculate the 2250 Rebuild the project. size of the variable area. Reduce the number of subscripts to be Cannot allocate enough memory for 2251 specified for Redim. Perform Redim Redim statement. modestly. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 152 Review the program. What number Available output data value is from 0 to 2273 Output data is out of available range. Output data byte data is out 255. Review the program. of range? RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 153 Robot in use. Cannot execute the Task number cannot be simultaneously executed from 2300 motion command when other task is that is using the more than one task. Review the using the robot. robot program. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 154 Failed to process 2323 Rebuild the project. the ByRef parameter. Function failure. Dimension of the 2324 Rebuild the project. ByRef parameter does not match. Function failure. Cannot use ByRef 2325 Rebuild the project. in an Xqt statement. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 155 Check whether the expansion I/O board 2346 available range or the board is not Word number and Fieldbus I/O board are correctly installed. detected. Memory I/O bit number is out of 2347 Review the program. Bit number available range. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 156 Curve failure. Reboot the controller. 2402 Failed to write the curve file. Create a Curve file again. Curve failure. Reboot the controller. 2403 Failed to open the curve file. Create a Curve file again. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 157 Reboot the controller. invalid. File Error. 2440 Check the file number. File number is already used. File Error. Make sure the file exists and you 2441 Failed to open the file. specified the file correctly. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 158 Reduce the data volume. 2475 Data buffer overflow. Review the program. Windows Communication Error. 2476 Reboot the Controller. Failed to wait for event. Windows Communication Error. 2477 Make sure the specified folder is correct. Invalid folder. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 159 32. Check whether the specified point file 2521 File path is too long. name is correct. Make sure you don’t use improper 2522 File name is invalid. characters for file name. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 160 Check whether the Drive Unit is 2845 connect the DU is not connected. connected properly. with manipulator registered. Because the increase and decrease of 2846 the drive unit was recognized, the controller unit is rebooted.. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 161 RS-232C port is already open by A single port cannot be used by more 2932 Port number another task. than one task. 2933 Failed to write to the RS-232C port. Check the communication. Port number RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 162 Reboot the Controller. If you use the simulator, check if the 2997 Collision Detection object is placed in the direction of the robot motion. AbortMotion attempted when robot 2998 See Help for AbortMotion. was not moving RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 163 Add the EndIf. The number of Loop statements is not 3119 Corresponding Loop cannot be found. enough. Add the Loop. The number of Next statements is not 3120 Corresponding Next cannot be found. enough. Add the Next. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 164 ' ** ' already used for a Global 3146 variable. ' ** ' already used for a Module 3147 variable. 3148 ' ** ' already used for a Local variable. 3149 ' ** ' already used for an I/O label. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 165 3183 Parameter cannot be omitted. RSRV parameter cannot use with 3184 tracking command. 3185 Cannot use Queue data. Combination between Queue and Point 3186 data does not match. 3187 Invalid Point flag value was specified. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 166 Memory word label was not specified. 3226 User error label was not specified. 3227 Function name was not specified. 3228 Variable type was not specified. Invalid Trap statement parameter. 3229 Use Goto, Call, or Xqt. 3230 Expected For/Do/Function. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 167 3263 Name was not specified. Vision Property Name or Result Name 3264 was not specified. Vision Property Name, Result Name or 3265 Object Name was not specified. Vision Calibration Property Name was 3266 not specified. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 168 Linked OBJ file does not match the The project configuration has been 3304 compiled compile option. changed. Perform the rebuild. Linked OBJ file does not match the The project configuration has been 3305 compiled link option. changed. Perform the rebuild. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 169 OBJ file size is beyond the available The OBJ file size exceeds the limit 3331 size after linking. value. Reduce the program. 3332 Variable '%s' is redefined. Linked OBJ file does not match the 3333 compiled GUI Builder Project. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 170 The include file that is not registered in Specified include file is not in the the project configuration is specified. 3503 project. Add the include file to the project configuration. Parameter of the macro function does 3504 not match the declaration. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 171 Too many point files. 3811 Too many registered points. Specified function cannot be used with 3812 a Remote User Output. User defined label, function and 3813 variable cannot be used with a Remote User Output. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 172 Cannot obtain the internal buffer. 3912 Cannot set priority. 3913 3914 Invalid ICode. 3915 Invalid ICode. 3916 Invalid ICode. 3917 Invalid ICode. 3918 Invalid ICode. 3919 Invalid ICode. 3920 Invalid ICode. 3921 Invalid ICode. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 173 4024 using the current Fine specification. are secured firmly. Increase the Fine setting value. Cannot execute a motion command Clear the emergency stop condition and 4025 during emergency stop condition. execute the motion command. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 174 Point data was not Create a Curve file again with the Curve 4047 specified. statement. Curve failure. Parallel process was Create a Curve file again with the Curve 4048 specified before the point designation. statement. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 175 Change the target point so that the joint #J6 revolves less than one rotation. Motion command was attempted in You attempted to move the joints to the 4066 the prohibited area depended on joint robot's interference limited area. combination. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 176 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. Servo error was detected during 4099 operation. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 177 Specified manipulator was in use by another task. Manipulator initialization failure. 4182 Manipulator name is too long. Manipulator initialization failure. 4183 Manipulator data version error. Manipulator initialization failure. 4184 Duplication of single axis joint is assigned. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 178 4219 error. System watchdog timer detected a Reboot the controller, take the measure 4220 failure. Reboot controller. against noise, or replace the DMB board. Check for noise. Replace the DMB. 4221 Drive unit check failure. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 179 Over speed during low power mode 4241 (Collision, contact) was detected. Replace the motor driver. Replace the motor. (Motor and encoder failure) Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, Expansion I/O connectors) RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 180 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.4...
  • Page 181 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.4...
  • Page 182 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.4...
  • Page 183 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.4...
  • Page 184 Encoder reset. Replace the resolver board. Resolver’s excitation signal Check signal wiring disconnected. manipulator (loose pin, disconnection, 5026 Reset the encoder or check for the short). resolver board manipulator Replace the resolver board. internal wiring. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 185 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.4...
  • Page 186 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.4...
  • Page 187 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.4...
  • Page 188 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. Message Remedy Note 1 Note 2 RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 189 Vision process Invalid pixel to pixel operation 6525 (-10001) Vision process Invalid Blob property structure 6530 size (-11001) Vision process Invalid Blob result header 6531 structure size (-11002) Vision process Invalid Blob result item 6532 structure size (-11003) RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 190 Vision process Invalid Geom property 6566 Confusion value(-11517) Vision process Invalid Geom property 6567 ModelOrgAutoCenter value (-11518) Vision process Invalid Geom property 6570 DetailLevel value (-11521) Vision process Invalid Geom property 6571 Smoothness value (-11522) RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 191 Invalid Corr Model property 6620 structure size (-12101) Vision process Invalid Edge property structure 6630 size (-12501) Vision process Invalid Edge result header 6631 structure size (-12502) Vision process Invalid Edge result item 6632 structure size (-12503) RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 192 File cannot be created (-2110) Vision process OCR 6678 File cannot be read (-2112) Vision process OCR 6679 File cannot be written (-2113) Vision process OCR 6680 No file (-2114) Vision process OCR 6681 Disk is full (-2115) RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 193 Vision process OCR 6686 Recognition dictionary is full (-2132) Vision process OCR 6687 Resolution is out of range (-2151) Vision process OCR 6688 Already used (-2154) Vision process OCR 6689 Reached the upper limit value (-2155) RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 194 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.4...
  • Page 195 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.4...
  • Page 196 Communication error occurred during 7101 detected during communication. transform. communication cable has a problem. Check the communication cable and its related units. The fieldbus is broken or the controller software is damaged. Restore the controller firmware. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 197 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.4...
  • Page 198 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.4...
  • Page 199 Vision Communication. 7346 Cannot execute a Vision statement from the command window. Smart camera. 7500 Out of memory. Smart camera. 7501 Project does not exist. Smart camera. 7502 Project has not been set. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 200 Specified value is not supported by the camera. 7538 ZoomFactor value is too small. The camera does not support Code 7539 Reader. 7540 The camera does not support OCR. 7541 Insufficient data for teaching model. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 201 Camera IP address is out of current 7547 subnet. 7548 Camera was not detected. Invalid Radius. Radius must be >= 7549 RadiusInner and <= RadiusOuter. 7550 OCR character does not exist. 7551 OCR option is not active. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 202 Specify another destination. same. 7711 Point file name is used by another robot. Check the point file name. 7712 Invalid axis specified. Check whether the specified axis is valid. Check if the axis is specified correctly. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 203 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.4...
  • Page 204 Failed to read the PRM file. PRM failure. 7828 Failed to write the PRM file. PRM failure. 7829 Failed to save the PRM file. File failure. 7830 Cannot access the file. 7831 The motor type is invalid. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 205 7951 Force sensing. Force sensor axis is invalid. 7952 Force sensing. Sensor read error 7953 Force sensing. Sensor initialization error. 7954 Force sensing. Sensor is not initialized. 7955 Force sensing. Sensor value exceeds maximum value. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 206 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.4...
  • Page 207 Initialization failure. If the manipulator is specified, check whether 9103 Failed to initialize the user output. the specified manipulator is registered. User outout error 9104 Check the condition expression. Unexecutable command is specified RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 208 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.4...
  • Page 209 No response from the serial encoder. the parallel encoder model) 9709 Check the signal cable connection, the Check the signal cable connection. motor, the DMB, or the encoder IF board. Replace the DMB and encoder I/F board. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 210 Current feedback data error is detected. 9728 Check the noise countermeasure. Check for DMB. Replace the DMB. D-DSP detected the communication error in Reboot the Controller. 9729 DSP. Check the noise countermeasure. Check for DMB. Replace the DMB. RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 211 Maintenance 9. Troubleshooting Message Remedy Note 1 Note 2 High speed while the absolute encoder in Reset the encoder. 9730 OFF. Replace the motor. Encoder reset. Servo alarm A. 9732 RC90 (EPSON RC+ 7.0) Rev.4...
  • Page 212 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.4...

  • Page 213: 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.4...

  • Page 214: 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.4...
  • Page 215 !! 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 216: Device Manager

    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. (1) Select and right click “EPSON Robot Controller RC170” in the [Device Manager] dialog. (2) Select [Uninstall].

  • Page 217: 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.4...
  • Page 218 Maintenance 10. Maintenance Parts List RC90 (EPSON RC+ 7.0) Rev.4...

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