Epson RC700 Series

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RC700 Series Rev.3 vii

EPSON RC+ 7.0 User’s Guide (PDF)

This manual describes general information about program development software.

EPSON RC+ 7.0 SPEL+ Language Reference (PDF)

This manual describes the robot programming language “SPEL+”.

Other Manual (PDF)

Manuals for each option are available.

Main Page

Table of Contents11
Installation19
Safety21
Conventions21
Installation22
System Example22
Unpacking23
Transportation23
Transportation Precautions23
Number of People and Position to Hold, When Transporting Manipulator24
Manipulator Installation28
Transportation Precautions28
Environment28
Noise Level29
Base Table29
Installation Procedure32
Control Unit and Drive Unit Installation45
Environment45
Installation46
Wall Mounting Option48
Designing a Safe Robot System49
Environmental Conditions49
System Layout49
Disabling Power to the System Using Lock out / Tag out50
End Effector Design50
Peripheral Equipment Design51
Remote Control51
Emergency Stop51
Safeguard53
Presence Sensing Device54
Resetting the Safeguard55
Robot Operation Panel55
Connecting55
Connection to EMERGENCY Connector55
Power Supply66
Connecting Control Unit and Drive Unit69
Drive Unit Setup70
Setup from EPSON RC136
Setup from Control Device137
Development PC Connection USB Port138
About Development PC Connection USB Port138
Precaution139
Port139
Disconnection of Development PC and Controller140
How to Fix USB Cable140
Memory Port141
What Is Backup Controller Function141
Before Using Backup Controller Function141
Precautions141
Adoptable USB Memory141
Backup Controller Function142
Backup Controller with Trigger Button142
Load Data with EPSON RC+ 7.0142
Transfer with E-Mail142
Details of Data143
LAN (Ethernet Communication) Port144
About the LAN (Ethernet Communication) Port144
IP Address145
Changing Controller IP Address145
Connection of Development PC and Controller with Ethernet146
Disconnection of Development PC and Controller with Ethernet147
TP Port148
What Is the TP Port148
Teach Pendant Connection149
Emergency150
Safety Door Switch and Latch Release Switch151
Safety Door Switch151
Latch Release Switch152
Checking Latch Release Switch Operation152
Emergency Stop Switch Connection153
Emergency Stop Switch153
Checking Emergency Stop Switch Operation153
Recovery from Emergency Stop153
Pin Assignments154
Circuit Diagrams155
Circuit and Wiring for Control Unit155
Circuit and Wiring for Drive Unit157
Standard RS-232C Port161
RS-232C Port161
Confirmation with EPSON RC+ 7.0 (RS-232C)161
RS-232C Software Communication Setup (RS-232C)162
Communication Cable (RS-232C)162
I/O Connector163
Input Circuit163
Typical Input Circuit Application 1164
Typical Input Circuit Application 2165
Output Circuit166
Typical Output Circuit Application 1: Sink Type (NPN)167
Typical Output Circuit Application 2: Source Type (PNP)167
Pin Assignments168
I/O Remote Settings169
I/O Signal Descriptio170
Remote Input Signals170
Remote Output Signals174
Timing Specifications178
Design Notes for Remote Input Signals178
Timing Diagram for Operation Execution Sequence178
Timing Diagram for Program Execution Sequence178
Timing Diagram for Safety Door Input Sequence179
Timing Diagram for Emergency Stop Sequence179
R-I/O Connector180
Input Circuit180
Input Circuit for Control Unit181
Typical Input Circuit Application 1181
Typical Input Circuit Application 2181
Input Circuit for Drive Unit182
Typical Input Circuit Application 1182
Typical Input Circuit Application 2182
Pin Assignments183
Pin Assignments for Control Unit183
Pin Assignments for Drive Unit183
Option Slots184
About Option Slots184
Expansion I/O Board184
Board Configuration (Expansion I/O Board)185
Confirmation with EPSON RC+ 7.0 (Expansion I/O Board)185
Input Circuit186
Output Circuit188
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 Board195
RS-232C Board196
About the RS-232C Board196
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 Board199
Analog I/O Board199
About Analog I/O Board199
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 Board206
About Force Sensor I/F Board206
Board Configuration (Force Sensor I/F Board)206
Confirmation with EPSON RC+ (Force Sensor I/F Board)207
EUROMAP67 Board208
Notes on the EUROMAP67 Board210
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 Assignments218
Board)218
Regular Inspections221
Regular Inspection for RC700 / RC700-A223
Inspections and Schedules223
Regular Inspection for RC700DU / RC700DU-A224
Inspections and Schedules224
Appendix225
Appendix A: Open Source Software License227

Epson RC700 Series

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