Epson RC90 User Manual

1. Introduction
RC700 / RC90 Option Fieldbus I/O Rev.14 9
Connection Types
There are two types of messaging connections: I/O messaging connection and Explicit
messaging connection. I/O messaging connection includes the two methods explained
below:
Change Of State : A device sends data whenever it changes. Signals for device diagnosis
are sent regularly in the background. This connection type is useful for
remedying EtherNet/IP communication traffic.
Cyclic : A slave device transfers data regularly according to its internal timer.
This connection type is typically used for communicating with a
temperature Controller. The data transfer frequency is defined by
master configuration.
For Change of State and Cyclic, the ACK which verifies communication completion can
be disabled by setting. However, never disable the ACK since communication errors
cannot be detected.
1.4.3 General Specifications
EtherNet/IP Communication Specifications
Item
Specification
Supported
Connection
- I/O messaging connection
(Cyclic, Change of State)
- Explicit messaging connection
All connections are conformed to EtherNet/IP communication
protocol.
Baud Rates
100 Mbps, 10 Mbps
Maximum Nodes
128 (including master unit)
Data Length / Frame
244 bytes
Access Control Type
CSMA/CD
Cable
Universal Ethernet cable

NOTE

Epson RC90 Specifications

General

Brand	Epson
Model	RC90
Category	Controller
Language	English

Summary

FOREWORD

WARRANTY

Before Reading This Manual

Safety Precautions

Details safety requirements for installation, transportation, and handling of robots and robotic equipment.

Conventions

Explains safety symbols used in the manual (Warning, Caution) and their meanings.

Security support for the network connection

Advises on network security, recommending local network use and antivirus software.

Control System Configuration

1. Introduction

1.1 Overview of Fieldbus I/O

Introduces the Fieldbus I/O option as an integrated I/O system supporting various fieldbuses.

1.2 DeviceNet

Provides an overview, features, and specifications of the DeviceNet fieldbus.

1.3 PROFIBUS DP

Covers overview, features, and specifications of the PROFIBUS DP fieldbus.

1.4 EtherNet/IP

Covers overview, features, and specifications of the EtherNet/IP fieldbus.

1.5 CC-Link

Provides overview, features, and specifications of the CC-Link fieldbus.

1.6 PROFINET

Covers overview, features, and communication levels of the PROFINET fieldbus.

1.7 EtherCAT

Provides overview, features, and specifications of the EtherCAT fieldbus.

2. Installation

2.1 DeviceNet

Details DeviceNet installation, including safety precautions, network setup, and construction.

2.2 PROFIBUS-DP

Covers PROFIBUS DP installation, including network setup and construction.

2.3 EtherNet/IP

Covers EtherNet/IP network setup and board installation.

2.4 CC-Link

Covers CC-Link slave board installation, specifications, and wiring.

2.5 PROFINET

Covers PROFINET slave board installation, specifications, and LED descriptions.

2.6 EtherCAT

Covers EtherCAT slave board installation, specifications, and LED descriptions.

3. Operation

3.1 SPEL+ Fieldbus I/O Commands

Lists main commands for Fieldbus I/O, covering status retrieval, message sending, and input/output operations.

3.3 Using FbusIO_SendMsg

Details the use of FbusIO_SendMsg for sending explicit messages to devices and receiving replies.

3.5 Setting Remote Control Input and Output

Explains how to allot remote control inputs and outputs to fieldbus I/O by default.

4. Troubleshooting (DeviceNet)

4.1 DeviceNet Troubleshooting

Offers general reference and exclusion information for troubleshooting DeviceNet networks.

4.1.2 Problems and Countermeasures

Lists common problems and their countermeasures based on Master Unit LED status.

4.1.3 Procedures for Examining Possible Causes

Provides detailed procedures for examining possible causes of DeviceNet network issues.

4. Troubleshooting (PROFIBUS DP)

4.2 PROFIBUS DP Troubleshooting

Offers general reference and exclusion information for troubleshooting PROFIBUS DP networks.

4.2.2 Problems and Countermeasures

Lists common problems and their countermeasures based on Master Unit LED status for PROFIBUS DP.

4.2.3 Procedures for Examining Possible Causes

Provides detailed procedures for examining possible causes of PROFIBUS DP network issues.

4. Troubleshooting (EtherNet/IP)

4.3 EtherNet/IP Troubleshooting

Offers general reference and exclusion information for troubleshooting EtherNet/IP networks.

4.3.2 Problems and Countermeasures

Lists common problems and their countermeasures based on Master Unit LED status for EtherNet/IP.

4.3.3 Tests and Diagnostics

Details diagnostic tools like TCP/IP layer and server device diagnostics for EtherNet/IP.

5. Maintenance Parts List

Slave (Board)

Lists part numbers and supported models for various slave boards (DeviceNet, PROFIBUS, CC-Link, etc.).

Slave (Module)

Lists part numbers and supported models for various slave modules (DeviceNet, CC-Link, etc.).

Master

Lists part names and codes for master boards, including DeviceNet and EtherNet/IP manufactured by molex.