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Epson RC90 User Manual
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Setup & Operation
9.
EMER
GENCY
9.4 Circuit
Diagrams
9.4.1
Example 1: E
xter
nal emerg
ency
stop
switch
ty
pical appl
ication
+24V
+5V
Safety
Door input
1
External
+24V
Safety
Door input
2
Latch release input
Latch release input
Close :Latch off
Open :Latch on
Main Circuit
Control
AC Input
Emergency
Stop switc
h of
an Operation
Unit
External
+
24V
GND
External Emergency
Stop switc
hes
Motor Driver
+
−
Controller
9
10
22
23
1
2
14
15
3
16
4
17
11
12
24
25
7
8
20
21
18
19
+
Emergency
Stop detection
NOTE:+24V GND
+ 5V GND
48
RC90 (EPSON R
C+ 7.0) Rev.
4
63
65
Table of Contents
Default Chapter
11
Table of Contents
11
Safety
19
Conventions
19
Safety Precautions
20
RC90 (EPSON RC+ 7.0) Rev
20
Setup & Operation
23
Specifications
25
System Example
25
Standard Specifications
26
Outer Dimensions
28
Part Names and Functions
29
Part Names
29
Functions
29
Led
31
Safety Features
32
Installation
34
Unpacking
34
Environmental Requirements
34
Environment
34
Installation
35
Power Supply
36
Specifications
36
AC Power Cable
37
AC Power Cable Connection
37
M/C Power Cable
38
Cable Connection
39
Typical Cable Connection
39
Connecting Manipulator to Controller
41
LS3 Series and RC90 Connection
41
Noise Countermeasures
42
Operation Mode (TEACH/AUTO/TEST)
43
Overview
43
Switch Operation Mode
43
Program Mode (AUTO)
44
What Is Program Mode (AUTO)
44
Setup from EPSON RC+ 7.0
44
Auto Mode (AUTO)
45
What Is Auto Mode (AUTO)
45
Setup from EPSON RC+ 7.0
45
Setup from Control Device
46
Development PC Connection Port
47
About Development PC Connection Port
47
Precaution
48
Software Setup and Connection Check
48
Disconnection of Development PC and Controller
49
Memory Port
50
What Is Controller Status Storage Function
50
Before Using Controller Status Storage Function
50
Precautions
50
Adoptable USB Memory
50
Controller Status Storage Function
51
Controller Status Storage with Trigger Button
51
Load Data with EPSON RC+ 7.0
51
Transfer with E-Mail
53
Details of Data
53
LAN (Ethernet Communication) Port
54
About the LAN (Ethernet Communication) Port
54
IP Address
54
Changing Controller IP Address
55
Connection of Development PC and Controller with Ethernet
56
Disconnection of Development PC and Controller Withethernet
57
TP Port
58
What Is the TP Port
58
Teach Pendant Connection
58
Emergency
59
Safety Door Switch and Latch Release Switch
59
Safety Door Switch
60
Latch Release Switch
60
Checking Latch Release Switch Operation
61
Emergency Stop Switch Connection
62
Emergency Stop Switch
62
Checking Emergency Stop Switch Operation
62
Recovery from Emergency Stop
62
Pin Assignments
63
Circuit Diagrams
64
Example 1: External Emergency Stop Switch Typical Application48
64
Example 2: External Safety Relay Typical Application
65
Standard RS-232C Port
66
About the RS-232C Port
66
Confirmation with EPSON RC+ 7.0
66
RS-232C Software Communication Setup (RS-232C)
67
Communication Cable (RS-232C)
67
I/O Connector
68
Input Circuit
68
Typical Input Circuit Application 1
68
Typical Input Circuit Application 2
69
Output Circuit
70
Typical Output Circuit Application 1: Sink Type
71
Typical Output Circuit Application 2: Source Type
72
Pin Assignments
73
I/O Remote Settings
74
I/O Signal Description
75
Remote Input Signals
75
Remote Output Signals
79
Timing Specifications
82
Design Notes for Remote Input Signals
82
Timing Diagram for Operation Execution Sequence
82
Timing Diagram for Program Execution Sequence
82
Timing Diagram for Safety Door Input Sequence
83
Timing Diagram for Emergency Stop Sequence
83
Option Slots
84
What Are Option Slots
84
Expansion I/O Board
84
About Expansion I/O Board
84
Board Configuration (Expansion I/O)
84
Confirmation with EPSON RC+ 7.0
85
Input Circuit
85
Output Circuit
87
Pin Assignments
90
Fieldbus I/O Board
91
RS-232C Board
92
About the RS-232C Board
92
Board Setup
92
Confirmation with EPSON RC+ 7.0 (RS-232C)
93
RS-232C Software Communication Setup (RS-232C)
93
Communication Cable (RS-232C)
94
Maintenance
95
Safety Precautions on Maintenance
97
Safety Precautions
97
Lockout / Tagout
98
Installing the Lockout Attachment
98
Padlock Size and Weight
99
Safety Precautions
99
Regular Maintenance Inspection
100
Schedule for Maintenance Inspection
100
Inspection Point
101
Inspection While the Controller Is Turned off
101
Inspection While the Controller Is Turned on
101
Controller Structure
102
Location of Parts
102
Diagram of Cable Connections
102
Backup and Restore
103
What Is the Backup Controller Function
103
Backup Data Types
103
Backup
104
Restore
105
Firmware Update
107
Updating Firmware
107
Firmware Upgrade Procedure
107
Controller Recovery
110
Firmware Initialization Procedure
111
Alarm
113
Alarm Configuration
113
Robot Battery and Grease up
113
Controller Battery
114
How to View the Alarm Information
114
How to Edit the Alarm Information
115
Alarm Notifying Method
115
How to Cancel the Alarm
116
Alarm Cancellation Dialog
116
Remote Input
116
Maintenance Parts Replacement Procedures
117
Fan Filter
117
Fan
118
Battery
119
CF (Compact Flash)
120
Mdb
121
Dmb
123
DMB Sub Board
127
Option Board
128
Verifying Robot System Operation
130
Troubleshooting
131
Error Code Table
131
Cannot Connect the Development PC and the Controller Using the USB Cable
213
Confirmation Using Windows Device Manager
214
Device Manager
216
Maintenance Parts List
217
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5
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Epson RC90 Specifications
General
Brand
Epson
Model
RC90
Category
Controller
Language
English
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