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Maintenance 9. Troubleshooting

No.

Message

Remedy

Note 1

Note 2

9730

High

speed while the absolute encoder in

OFF.

Encoder reset.

Reset the encoder.

Replace the motor.

9732

Servo alarm A.

RC90 (EPSON RC+ 7.0) Rev.4

195

Table of Contents

Default Chapter11
- Table of Contents11
Safety19
Conventions19
Safety Precautions20
- RC90 (EPSON RC+ 7.0) Rev20
Setup & Operation23
Specifications25
- System Example25
- Standard Specifications26
- Outer Dimensions28
Part Names and Functions29
- Part Names29
- Functions29
- Led31
- Safety Features32
Installation34
- Unpacking34
- Environmental Requirements34
  - Environment34
  - Installation35
- Power Supply36
- Cable Connection39
- Noise Countermeasures42
Operation Mode (TEACH/AUTO/TEST)43
- Overview43
- Switch Operation Mode43
- Program Mode (AUTO)44
  - What Is Program Mode (AUTO)44
  - Setup from EPSON RC+ 7.044
- Auto Mode (AUTO)45
Development PC Connection Port47
- About Development PC Connection Port47
- Precaution48
- Software Setup and Connection Check48
- Disconnection of Development PC and Controller49
Memory Port50
- What Is Controller Status Storage Function50
- Before Using Controller Status Storage Function50
  - Precautions50
  - Adoptable USB Memory50
- Controller Status Storage Function51
- Details of Data53
LAN (Ethernet Communication) Port54
- About the LAN (Ethernet Communication) Port54
- IP Address54
- Changing Controller IP Address55
- Connection of Development PC and Controller with Ethernet56
- Disconnection of Development PC and Controller Withethernet57
TP Port58
- What Is the TP Port58
- Teach Pendant Connection58
Emergency59
- Safety Door Switch and Latch Release Switch59
- Emergency Stop Switch Connection62
- Pin Assignments63
- Circuit Diagrams64
  - Example 1: External Emergency Stop Switch Typical Application4864
  - Example 2: External Safety Relay Typical Application65
Standard RS-232C Port66
- About the RS-232C Port66
- Confirmation with EPSON RC+ 7.066
- RS-232C Software Communication Setup (RS-232C)67
- Communication Cable (RS-232C)67
I/O Connector68
- Input Circuit68
  - Typical Input Circuit Application 168
  - Typical Input Circuit Application 269
- Output Circuit70
  - Typical Output Circuit Application 1: Sink Type71
  - Typical Output Circuit Application 2: Source Type72
- Pin Assignments73
I/O Remote Settings74
- I/O Signal Description75
  - Remote Input Signals75
  - Remote Output Signals79
- Timing Specifications82
Option Slots84
- What Are Option Slots84
- Expansion I/O Board84
- Fieldbus I/O Board91
- RS-232C Board92
Maintenance95
Safety Precautions on Maintenance97
- Safety Precautions97
- Lockout / Tagout98
Regular Maintenance Inspection100
- Schedule for Maintenance Inspection100
- Inspection Point101
  - Inspection While the Controller Is Turned off101
  - Inspection While the Controller Is Turned on101
Controller Structure102
- Location of Parts102
- Diagram of Cable Connections102
Backup and Restore103
- What Is the Backup Controller Function103
- Backup Data Types103
- Backup104
- Restore105
Firmware Update107
- Updating Firmware107
- Firmware Upgrade Procedure107
- Controller Recovery110
- Firmware Initialization Procedure111
Alarm113
- Alarm Configuration113
  - Robot Battery and Grease up113
  - Controller Battery114
- How to View the Alarm Information114
- How to Edit the Alarm Information115
- Alarm Notifying Method115
- How to Cancel the Alarm116
  - Alarm Cancellation Dialog116
  - Remote Input116
Maintenance Parts Replacement Procedures117
- Fan Filter117
- Fan118
- Battery119
- CF (Compact Flash)120
- Mdb121
- Dmb123
- DMB Sub Board127
- Option Board128
Verifying Robot System Operation130
Troubleshooting131
- Error Code Table131
- Cannot Connect the Development PC and the Controller Using the USB Cable213
  - Confirmation Using Windows Device Manager214
  - Device Manager216
Maintenance Parts List217

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