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RC700-A
Epson RC700-A Original Instructions
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RC700 Series Rev.3
vii
EPSON R
C+ 7.0 Use
r
’
s G
uide (PD
F)
This manual
describes g
ener
al informa
tion about pr
ogram
developme
nt software.
EPSON
RC+ 7.
0 SPEL+
Lan
guage R
eference
(PDF
)
This manual d
escribes t
he robot pr
ogramming l
anguage
“SPEL+
”.
O
ther Manual
(PDF
)
Manuals for each opti
on are availabl
e.
8
10
Table of Contents
Table of Contents
11
Installation
19
Safety
21
Conventions
21
Installation
22
System Example
22
Unpacking
23
Transportation
23
Transportation Precautions
23
Number of People and Position to Hold, When Transporting Manipulator
24
Manipulator Installation
28
Transportation Precautions
28
Environment
28
Noise Level
29
Base Table
29
Installation Procedure
32
Control Unit and Drive Unit Installation
45
Environment
45
Installation
46
Wall Mounting Option
48
Designing a Safe Robot System
49
Environmental Conditions
49
System Layout
49
Disabling Power to the System Using Lock out / Tag out
50
End Effector Design
50
Peripheral Equipment Design
51
Remote Control
51
Emergency Stop
51
Safeguard
53
Presence Sensing Device
54
Resetting the Safeguard
55
Robot Operation Panel
55
Connecting
55
Connection to EMERGENCY Connector
55
Power Supply
66
Connecting Control Unit and Drive Unit
69
Drive Unit Setup
70
Setup from EPSON RC
136
Setup from Control Device
137
Development PC Connection USB Port
138
About Development PC Connection USB Port
138
Precaution
139
Port
139
Disconnection of Development PC and Controller
140
How to Fix USB Cable
140
Memory Port
141
What Is Backup Controller Function
141
Before Using Backup Controller Function
141
Precautions
141
Adoptable USB Memory
141
Backup Controller Function
142
Backup Controller with Trigger Button
142
Load Data with EPSON RC+ 7.0
142
Transfer with E-Mail
142
Details of Data
143
LAN (Ethernet Communication) Port
144
About the LAN (Ethernet Communication) Port
144
IP Address
145
Changing Controller IP Address
145
Connection of Development PC and Controller with Ethernet
146
Disconnection of Development PC and Controller with Ethernet
147
TP Port
148
What Is the TP Port
148
Teach Pendant Connection
149
Emergency
150
Safety Door Switch and Latch Release Switch
151
Safety Door Switch
151
Latch Release Switch
152
Checking Latch Release Switch Operation
152
Emergency Stop Switch Connection
153
Emergency Stop Switch
153
Checking Emergency Stop Switch Operation
153
Recovery from Emergency Stop
153
Pin Assignments
154
Circuit Diagrams
155
Circuit and Wiring for Control Unit
155
Circuit and Wiring for Drive Unit
157
Standard RS-232C Port
161
RS-232C Port
161
Confirmation with EPSON RC+ 7.0 (RS-232C)
161
RS-232C Software Communication Setup (RS-232C)
162
Communication Cable (RS-232C)
162
I/O Connector
163
Input Circuit
163
Typical Input Circuit Application 1
164
Typical Input Circuit Application 2
165
Output Circuit
166
Typical Output Circuit Application 1: Sink Type (NPN)
167
Typical Output Circuit Application 2: Source Type (PNP)
167
Pin Assignments
168
I/O Remote Settings
169
I/O Signal Descriptio
170
Remote Input Signals
170
Remote Output Signals
174
Timing Specifications
178
Design Notes for Remote Input Signals
178
Timing Diagram for Operation Execution Sequence
178
Timing Diagram for Program Execution Sequence
178
Timing Diagram for Safety Door Input Sequence
179
Timing Diagram for Emergency Stop Sequence
179
R-I/O Connector
180
Input Circuit
180
Input Circuit for Control Unit
181
Typical Input Circuit Application 1
181
Typical Input Circuit Application 2
181
Input Circuit for Drive Unit
182
Typical Input Circuit Application 1
182
Typical Input Circuit Application 2
182
Pin Assignments
183
Pin Assignments for Control Unit
183
Pin Assignments for Drive Unit
183
Option Slots
184
About Option Slots
184
Expansion I/O Board
184
Board Configuration (Expansion I/O Board)
185
Confirmation with EPSON RC+ 7.0 (Expansion I/O Board)
185
Input Circuit
186
Output Circuit
188
Typical Output Circuit Application 1: Sink Type (NPN)
189
Typical Output Circuit Application 2: Source Type (PNP)
190
Pin Assignments (Expansion I/O Board)
191
Fieldbus I/O Board
195
RS-232C Board
196
About the RS-232C Board
196
Board Setup (RS-232C)
196
Confirmation with EPSON RC+ (RS-232C)
197
RS-232C Software Communication Setup (RS-232C)
197
Communication Cable (RS-232C)
198
PG Board
199
Analog I/O Board
199
About Analog I/O Board
199
Board Configuration (Analog I/O Board)
200
Confirmation with EPSON RC+ (Analog I/O Board)
203
Input Circuit (Analog I/O Board)
204
Output Circuit (Analog I/O Board)
204
Pin Assignments (Analog I/O Board)
205
Force Sensor I/F Board
206
About Force Sensor I/F Board
206
Board Configuration (Force Sensor I/F Board)
206
Confirmation with EPSON RC+ (Force Sensor I/F Board)
207
EUROMAP67 Board
208
Notes on the EUROMAP67 Board
210
Board Settings (EUROMAP67 Board)
211
Installation (EUROMAP67 Board)
211
Confirming with EPSON RC+ 7.0 (EUROMAP67 Board)
212
Sample Project (EUROMAP67 Board)
212
Circuit Overview (EUROMAP67 Board)
213
Input Circuit (EUROMAP67 Board)
214
Output Circuit (EUROMAP67 Board)
214
Emergency Stop, Safeguard (EUROMAP67 Board)
215
I/O Pin Assignments (EUROMAP67 Board)
216
Emergency Stop Connecter Pin Assignments
218
Board)
218
Regular Inspections
221
Regular Inspection for RC700 / RC700-A
223
Inspections and Schedules
223
Regular Inspection for RC700DU / RC700DU-A
224
Inspections and Schedules
224
Appendix
225
Appendix A: Open Source Software License
227
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Epson RC700-A Specifications
General
Brand
Epson
Model
RC700-A
Category
Controller
Language
English
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