Epson RC700-D User manual

Control Unit RC700-D
Original instructions
Rev.2 EM221C5146F
ROBOT CONTROLLER
RC700-D
Manual

ROBOT CONTROLLER RC700-D Manual Rev.2

RC700-D Rev.2 i
ROBOT CONTROLLER
RC700-D Manual
Rev.2
Copyright © 2021-2022 SEIKO EPSON CORPORATION. All rights reserved.

ii RC700-D Rev.2
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the robot controller.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance with
our high performance standards. Please note that the basic performance of the product will
not be exhibited if our robot system is used outside of the usage conditions and product
specifications described in the manuals.
This manual describes possible dangers and consequences that we can foresee. Be sure to
comply with safety precautions on this manual to use our robot system safety and correctly.
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8, and Windows 10 refer to above respective operating
systems. In some cases, Windows refers generically to Windows 8, and Windows 10.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety Manual Read this manual first

RC700-D Rev.2 iii
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.
Regarding battery disposal
The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual
For European Union customers only
The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household waste
stream. To prevent possible harm to the environment or human health please separate this
product and its batteries from other waste streams to ensure that it can be recycled in an
environmentally sound manner. For more details on available collection facilities please
contact your local government office or the retailer where you purchased this product. Use
of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.
This information only applies to customers in the European Union, according to
DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the possibility of
recycling your product.
For Taiwanese customers only
Please separate used batteries from other waste streams to ensure that it can be recycled in
an environmentally sound manner. For more details on available collection facilities please
contact your local government office or the retailer where you purchased this product.
For California customers only
The lithium batteries in this product contain
Perchlorate Material - special handling may apply,
See www.dtsc.ca.gov/hazardouswaste/perchlorate

iv RC700-D Rev.2
Before Reading This Manual
Do not connect the followings to the TP port of RC700-D. Connecting to the followings
may result in malfunction of the device since the pin assignments are different.
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3**
Operator Panel OP1
For RC700-D, be sure to install the EPSON RC+7.0 to the development PC first, then
connect the development PC and RC700-D with the USB cable.
If RC700-D and the development PC are connected without installing the EPSON RC+7.0
to the development PC, [Add New Hardware Wizard] appears. If this wizard appears, click
the <Cancel> button.
Concerning the security support for the network connection:
The network connecting function (Ethernet) on our products assumes the use in the local
network such as the factory LAN network. Do not connect to the external network such
as Internet.
In addition, please take security measure such as for the virus from the network connection
by installing the antivirus software.
Security support for the USB memory:
Make sure the USB memory is not infected with virus when connecting to the Controller.
Structure of Robot System
Controller RC700-D can be used with the following version.
EPSON RC+ 7.0 Ver.7.5.1B or later
Each Manipulator can be used with the following version.
GX4, GX8 series: EPSON RC+ 7.0 Ver.7.5.1B
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NOTE
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NOTE
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NOTE
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NOTE

RC700-D Rev.2 v
The Manuals of This Product
The following are typical manual types for this product and an outline of the descriptions.
Safety Manual (book, PDF)
This manual contains safety information for all people who handle this product. The
manual also describes the process from unpacking to operation and the manual you should
look at next.
Read this manual first.
-Safety precautions regarding robot system and residual risk
-Declaration of conformity
-Training
-Flow from unpacking to operation
RC700-D series Manual (PDF)
This manual explains the installation of the entire robot system and the specifications and
functions of the controller. The manual is primarily intended for people who design robot
systems.
-The installation procedure of the robot system (specific details from unpacking to
operation)
-Daily inspection of the controller
-Controller specifications and basic functions
GX series Manual (PDF)
This manual describes the specifications and functions of the Manipulator. The manual is
primarily intended for people who design robot systems.
-Technical information, functions, specifications, etc. required for the Manipulator
installation and design
-Daily inspection of the Manipulator
Status Code/Error Code List (PDF)
This manual contains a list of code numbers displayed on the controller and messages
displayed in the software message area. The manual is primarily intended for people who
design robot systems or do programming.
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.
Manuals About Maintenance, Service
Manuals about Maintenance or Service does not come with the products.
Only authorized personnel who have taken maintenance training held by the manufacturer
or dealer should be allowed to perform the robot maintenance. Please contact the supplier
of your region for more information.

vi RC700-D Rev.2

Table of Contents
RC700-D Rev.2 vii
Installation
1. Safety 3
1.1 Conventions ..............................................................................................3
2. Installation 4
2.1 System Example.......................................................................................4
2.2 Unpacking .................................................................................................5
2.3 Transportation...........................................................................................5
2.3.1 Transportation Precautions...........................................................5
2.3.2 Number of people and position to hold, when transporting
manipulator...................................................................................5
2.4 Manipulator Installation.............................................................................7
2.4.1 Transportation Precautions...........................................................7
2.4.2 Environment ..................................................................................7
2.4.3 Noise level.....................................................................................8
2.4.4 Base Table ....................................................................................8
2.4.5 Installation Procedure .................................................................10
2.5 Control Unit Installation...........................................................................15
2.5.1 Environment ................................................................................15
2.5.2 Installation ...................................................................................16
2.5.3 Wall Mounting Option..................................................................18
2.6 Designing a Safe Robot System.............................................................19
2.6.1 Environmental Conditions ...........................................................19
2.6.2 System Layout.............................................................................19
2.6.3 Disabling Power to the System using lock out / tag out .............20
2.6.4 End Effector Design ....................................................................20
2.6.5 Peripheral Equipment Design .....................................................20
2.6.6 Remote Control ...........................................................................20
2.6.7 Emergency Stop..........................................................................21
2.6.8 Safeguard....................................................................................22
2.6.9 Presence Sensing Device...........................................................24
2.6.10 Resetting the Safeguard ...........................................................24
2.6.11 Robot Operation Panel..............................................................24
2.7 Connecting..............................................................................................25
2.7.1 Connection to EMERGENCY Connector....................................25
2.7.2 Power Supply ..............................................................................32
2.7.3 Connecting Manipulator and Controller ......................................34
2.8 Saving Default Status .............................................................................34

Table of Contents
viii RC700-D Rev.2
3. Power-ON 35
3.1 Power-ON Precautions...........................................................................35
3.2 Power ON Procedure .............................................................................36
4. First Step 37
4.1 Installing EPSON RC+ 7.0 Software......................................................37
4.2 Development PC and Controller Connection .........................................39
4.2.1 About Development PC Connection USB Port...........................40
4.2.2 Precaution...................................................................................40
4.2.3 Software Setup and Connection Check......................................41
4.2.4 Backup the initial condition of the Controller ..............................42
4.2.5 Disconnection of Development PC and Controller..................... 42
4.2.6 Moving the Robot to Initial Position ............................................42
4.3 Writing your first program .......................................................................47
4.4 Firmware Update ....................................................................................52
4.4.1 Updating Firmware......................................................................52
4.4.2 Firmware Upgrade Procedure ....................................................52
4.4.3 Controller Recovery ....................................................................55
4.4.4 Firmware Initialization Procedure ...............................................56
4.4.5 Adding Confirmation Steps by Strengthening Security of EtherNet
Connection .................................................................................58
5. Second Step 62
5.1 Connection with External Equipment .....................................................62
5.1.1 Remote Control...........................................................................62
5.1.2 Ethernet.......................................................................................62
5.1.3 RS-232C (Option) .......................................................................62
5.1.4 Analog I/O board (Option)...........................................................62
5.1.5 Force Sensor I/F board (Option).................................................62
5.2 Ethernet Connection of Development PC and Controller ......................63
5.3 Connection of Teach Pendant (Option)..................................................63