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

NOTE

NOTE

NOTE

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

Table of Contents
RC700-D Rev.2 ix
Functions required for designing
1. Specifications 67
1.1 System Example.....................................................................................67
1.2 Standard Specifications ..........................................................................68
1.3 Outer Dimensions ...................................................................................71
2. Part Names and Functions 72
2.1 LED and Seven-segment LED ...............................................................75
2.1.1 LED and Seven-segment LED Display.......................................75
2.1.2 Particular Status Display.............................................................76
2.2 Safety Function.......................................................................................76
2.3 Protection Features ................................................................................77
3. Installation 79
3.1 Unpacking ...............................................................................................79
3.2 Environmental Requirements .................................................................79
3.2.1 Environment ................................................................................79
3.2.2 Installation ...................................................................................80
3.2.3 Wall Mounting Option..................................................................83
3.3 Power Supply..........................................................................................84
3.3.1 Specifications ..............................................................................84
3.3.2 AC Power Cable..........................................................................85
3.4 Cable Connection ...................................................................................86
3.4.1 Typical Cable Connection ...........................................................87
3.4.2 Connecting Manipulator to Controller .........................................89
3.5 Noise Countermeasures .........................................................................90
4. Operation Mode (TEACH/AUTO/TEST) 92
4.1 Overview .................................................................................................92
4.2 Switch Operation Mode ..........................................................................93
4.3 Program Mode (AUTO)...........................................................................94
4.3.1 What is Program Mode (AUTO)?................................................94
4.3.2 Setup from EPSON RC+.............................................................94
4.4 Auto Mode (AUTO) .................................................................................95
4.4.1 What is Auto mode (AUTO)? ......................................................95
4.4.2 Setup from EPSON RC+.............................................................95
4.4.3 Setup from Control Device..........................................................96

Table of Contents
xRC700-D Rev.2
5. Development PC Connection USB Port 97
5.1 About Development PC Connection USB Port ......................................97
5.2 Precaution...............................................................................................98
5.3 PC and Controller Connection Using .......Development PC Connection
USB Port.................................................................................................98
5.4 Disconnection of Development PC and Controller.................................99
5.5 How to Fix USB Cable............................................................................99
6. Memory Port 100
6.1 What is Backup Controller Function?...................................................100
6.2 Before Using Backup Controller Function............................................100
6.2.1 Precautions ...............................................................................100
6.2.2 Adoptable USB Memory ...........................................................100
6.3 Backup Controller Function ..................................................................101
6.3.1 Backup Controller with Trigger Button......................................101
6.3.2 Load Data with EPSON RC+ 7.0..............................................101
6.3.3 Transfer with E-mail ..................................................................101
6.4 Details of Data ......................................................................................102
7. LAN (Ethernet Communication) Port 103
7.1 About the LAN (Ethernet Communication) Port...................................103
7.2 IP Address ............................................................................................103
7.3 Changing Controller IP Address...........................................................104
7.4 Connection of Development PC and Controller with .................. Ethernet
..............................................................................................................105
7.5 Disconnection of Development PC and Controller ............with Ethernet
..............................................................................................................106
8. TP Port 107
8.1 What is the TP Port? ............................................................................107
8.2 Teach Pendant Connection..................................................................108
9. EMERGENCY 109
9.1 Safety Door Switch and Latch Release Switch....................................110
9.1.1 Safety Door Switch ...................................................................110
9.1.2 Latch Release Switch ...............................................................111
9.1.3 Checking Latch Release Switch Operation ..............................111
9.2 Emergency Stop Switch Connection....................................................112
9.2.1 Emergency Stop Switch............................................................112

Table of Contents
RC700-D Rev.2 xi
9.2.2 Checking Emergency Stop Switch Operation...........................112
9.2.3 Recovery from Emergency Stop...............................................112
9.3 Pin Assignments ...................................................................................113
9.4 Circuit Diagrams ...................................................................................114
9.4.1 Example 1: External emergency stop switch typical application114
9.4.2 Example 2: External safety relay typical application.................115
10. Standard RS-232C Port 116
10.1 RS-232C Port......................................................................................116
10.2 Confirmation with EPSON RC+ 7.0 (RS-232C) .................................116
10.3 RS-232C Software Communication Setup (RS-232C).......................117
10.4 Communication Cable (RS-232C) ......................................................117
11. I/O Connector 118
11.1 Input Circuit.........................................................................................118
11.1.1 Typical Input Circuit Application 1...........................................119
11.1.2 Typical Input Circuit Application 2...........................................120
11.2 Output Circuit ......................................................................................121
11.2.1 Typical Output Circuit Application 1: Sink Type (NPN)...........122
11.2.2 Typical Output Circuit Application 2: Source Type (PNP) ......122
11.3 Pin Assignments .................................................................................123
12. I/O Remote Settings 124
12.1 I/O Signal Description .........................................................................125
12.1.1 Remote Input Signals..............................................................125
12.1.2 Remote Output Signals...........................................................129
12.2 Timing Specifications..........................................................................132
12.2.1 Design Notes for Remote Input Signals..................................132
12.2.2 Timing Diagram for Operation Execution Sequence ..............132
12.2.3 Timing Diagram for Program Execution Sequence ................133
12.2.4 Timing Diagram for Safety Door Input Sequence...................134
12.2.5 Timing Diagram for Emergency Stop Sequence ....................134
13. R-I/O Connector 135
13.1 Input Circuit.........................................................................................135
Typical Input Circuit Application 1.........................................................135
Typical Input Circuit Application 2.........................................................135
13.2 Pin Assignments .................................................................................136

Table of Contents
xii RC700-D Rev.2
14. Option Slots 137
14.1 About Option Slots..............................................................................137
14.2 Expansion I/O Board ..........................................................................137
14.2.1 Expansion I/O Board...............................................................137
14.2.2 Board Configuration (Expansion I/O Board)...........................138
14.2.3 Confirmation with EPSON RC+ 7.0 (Expansion I/O Board)...138
14.2.4 Input Circuit.............................................................................139
14.2.5 Output Circuit ..........................................................................141
14.2.6 Pin Assignments (Expansion I/O Board) ................................144
14.3 Fieldbus I/O Board..............................................................................148
14.4 RS-232C Board ..................................................................................149
14.4.1 About the RS-232C Board......................................................149
14.4.2 Board Setup (RS-232C)..........................................................149
14.4.3 Confirmation with EPSON RC+ (RS-232C)............................150
14.4.4 RS-232C Software Communication Setup (RS-232C)...........150
14.4.5 Communication Cable (RS-232C) ..........................................151
14.5 PG Board ............................................................................................152
14.6 Analog I/O Board ................................................................................152
14.6.1 About Analog I/O Board..........................................................152
14.6.2 Board Configuration (Analog I/O Board).................................153
14.6.3 Confirmation with EPSON RC+ (Analog I/O Board)...............156
14.6.4 Input Circuit (Analog I/O Board) .............................................157
14.6.5 Output Circuit (Analog I/O Board)...........................................157
14.6.6 Pin Assignments (Analog I/O Board)......................................158
14.7 Force Sensor I/F Board ......................................................................159
14.7.1 About Force Sensor I/F Board................................................159
14.7.2 Board Configuration (Force Sensor I/F Board).......................159
14.7.3 Confirmation with EPSON RC+ (Force Sensor I/F Board).....160
14.8 EUROMAP67 Board...........................................................................161
14.8.1 Notes on the EUROMAP67 Board .........................................163
14.8.2 Board Settings (EUROMAP67 Board)....................................164
14.8.3 Installation (EUROMAP67 Board) ..........................................164
14.8.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board) ......165
14.8.5 Sample Project (EUROMAP67 Board)...................................165
14.8.6 Circuit Overview (EUROMAP67 Board) .................................166
14.8.7 Input Circuit (EUROMAP67 Board) ........................................167
14.8.8 Output Circuit (EUROMAP67 Board) .....................................167
14.8.9 Emergency Stop, Safeguard (EUROMAP67 Board) ...........168
14.8.10 I/O Pin Assignments (EUROMAP67 Board).........................169

Table of Contents
RC700-D Rev.2 xiii
14.8.11 Emergency stop connecter Pin Assignments
(EUROMAP67 Board) ..............................................................171
Regular Inspection
1. Regular Inspection for RC700-D 175
1.1 Inspections and Schedules...................................................................175
2. Backup and Restore 176
2.1 What is the Backup Controller Function? .............................................176
2.2 Backup Data Types ..............................................................................176
2.3 Backup ..................................................................................................177
2.4 Restore..................................................................................................178
3. Alarm 181
3.1 Maintenance .........................................................................................181
3.2 How to View the Maintenance Information...........................................182
3.3 How to Edit the Maintenance Information ............................................184
3.4 Alarm Notifying Method ........................................................................185
3.5 How to Cancel the Alarm......................................................................185
Appendix
Appendix A: Option Parts List 189
Appendix B: Open Source Software License 190

Table of Contents
xiv RC700-D Rev.2

Installation
This section describes outline from unpacking to operation of Robot System and
design of Robot System.

Installation 1. Safety
RC700-D Rev.2 3
1. Safety
Please read “Safety Manual” and check safety considerations before installing the robot
system or before connecting cables.
Keep this manual handy for easy access at all times.
This product is intended for transporting and assembling parts in a safely isolated area.
1.1 Conventions
Important safety considerations are indicated throughout the manual by the following
symbols. Be sure to read the descriptions shown with each symbol.
WARNING
This symbol indicates that a danger of possible serious injury or
death exists if the associated instructions are not followed
properly.
WARNING
This symbol indicates that a danger of possible harm to people
caused by electric shock exists if the associated instructions are
not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people or
physical damage to equipment and facilities exists if the associated
instructions are not followed properly.

Installation 2. Installation
4RC700-D Rev.2
2. Installation
2.1 System Example
Operation Panel
Motion Controller
RC700-D
Expansion I/O Board
Fieldbus
PROFIBUS-DP
DeviceNet
CC-Link
EtherNet/IP
PROFINET
EtherCAT
RS-232C Board
Windows *1
PC
EPSON RC+ 7.0
software
Option
USB2.0 or
Ethernet
TP2
(Option)
Standard I/O
Remote I/O
Ethernet
RS-232C
Requires
preparation by uses
PLC (Sequencer)
Option
Standard
Pulse Output Board
GX series
* 2
TP3 (Option)
* 3
Analog I/O Board
Force Sensor I/F Board
EUROMAP67 Board
*1 EPSON RC+ 7.0 supports the following OS.
Windows 8.1 Pro (EPSON RC+ 7.0 Ver.7.1.0 or later)
Windows 10 Pro (EPSON RC+ 7.0 Ver.7.2.0 or later)
*2 Any one of the Teach pendant can be controlled.
*3 When connecting to RC700-D, a dedicated conversion cable is required.