Epson RC700 User manual

Robot Controller
RC700 / RC90 Option
Fieldbus I/O
Rev.12
EM179C3513F

Robot Controller RC70
0/ RC90 Option Fieldbus I/O Rev.12

RC700 / RC90 Option Fieldbus I/O Rev.12 i
Robot Controller RC700 / RC90 Option
Fieldbus I/O
Rev.12
Copyright © 2012-2017 SEIKO EPSON CORPORATION. All rights reserved.

ii RC700 / RC90 Option Fieldbus I/O Rev.12
FOREWORD
This manual contains important information necessary to use the Robot Controller RC700
/ RC90 Option Fieldbus I/O properly and safely. This manual is intended for personnel
who perform any operations using the pendant, such as teaching robot points.
Please thoroughly read this manual and other related manuals before and while using the
equipment.
WARRANTY
The robot 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.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your supplier for warranty period
information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1.
Damage or malfunction caused by improper use which is not described in the manual,
or careless use.
2.
Malfunctions caused by
customers’ unauthorized disassembly.
3.
Damage due to improper adjustments or unauthorized repair attempts.
4.
Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.
If the robot or associated equipment is used outside of the usage conditions and product
specifications described in the manuals, this warranty is void.
2.
If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result
is injury or death.
3.
We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.

RC700 / RC90 Option Fieldbus I/O Rev.12 iii
TRADEMARKS
Microsoft, Windows, Windows logo, Visual Basic, and Visual C++ are either registered
trademarks or trademarks of Microsoft Corporation in the United States and/or other
countries.
Pentium is a trademark of Intel Corporation in the United States.
DeviceNet™ is a registered trademark of ODVA (Open DeviceNet Vendor Association,
Inc.).
EtherNet/IP™ is a trademark used under license by ODVA (Open DeviceNet Vendor
Association, Inc.).
PROFIBUS and PROFINET are registered trademarks of PROFIBUS International.
CC-Link is a registered trademark of the CC-Link Partner Association.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
Other brand and product names are trademarks or registered trademarks of the respective
holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® XP Operating system
Microsoft® Windows® Vista Operating system
Microsoft® Windows® 7 Operating system
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows XP, Windows Vista, Windows 7, Windows 8, and
Windows 10 refer to above respective operating systems. In some cases, Windows refers
generically to Windows XP, Windows Vista, Windows 7, 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

iv RC700 / RC90 Option Fieldbus I/O Rev.12
Before Reading This Manual
This section describes what you should know before reading this manual.
Safety Precautions
Installation and transportation of robots and robotic equipment shall be performed by
qualified personnel and should conform to all national and local codes.
Please carefully read this manual and other related manuals before installing the robot
system or before connecting cables.
Keep this manual handy for easy access at all times. Please read the Safety chapter in
User’s Guide to understand safety requirements before installing the robot system.
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.
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
the Internet.
In addition, please take security measure such as the antivirus software to block the virus
from the network connection.
Security support for the USB memory
Make sure that the USB memory is not infected with virus when connecting to the
Controller.
For T series Manipulator user only
T series Manipulators are controller integrated manipulators.
Read “Controller” and “Robot Controller” described in this manual as “T series
Manipulator”. (However, except the screen of EPSON RC+.)

RC700 / RC90 Option Fieldbus I/O Rev.12 v
Control System Configuration
This option is used with the following combinations of Controllers and software.
TYPE A:
Controller Software
RC700 EPSON RC+ 7.0
TYPE B: Robot Controller RC90 with the following label attached.
Label
Controller
Software
RC90 EPSON RC+ 7.0
RC90 controller firmware
Ver.7.0.2.0
EPSON RC+ 7.0
Before Ver.7.0.1
!!!
Ver.7.0.2 or later
OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are
available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.
7.0.2 or later.
TYPE C:
Manipulator
Software
T series EPSON RC+ 7.0
Ethernet/IP, PROFINET, and EtherCAT of this option are not available for Robot
Controller RC90 (EPSON RC+ 5.0) without the label.
Refer to the Robot Controller RC90 Setup & Operation 13.3 Fieldbus I/O Board.
Manual PDF for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2.
Electronic information file for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2.
Fieldbus I/O supports the following OS.
Windows XP Professional Service Pack 3
Windows Vista Business Service Pack 2
Windows 7 Professional Service Pack 1
Windows 8.1 Pro
Windows 10 Pro

NOTE

NOTE

NOTE

vi RC700 / RC90 Option Fieldbus I/O Rev.12

Table of Contents
RC700 / RC90 Option Fieldbus I/O Rev.12 vii
1. Introduction.............................................................1
1.1 Overview of Fieldbus I/O............................................................1
1.2 DeviceNet...................................................................................3
1.2.1 Overview of DeviceNet .....................................................3
1.2.2 Features of DeviceNet......................................................3
1.2.3 General Specifications......................................................5
1.3 PROFIBUS DP ...........................................................................6
1.3.1 Overview of PROFIBUS DP .............................................6
1.3.2 Features of PROFIBUS DP..............................................6
1.3.3 General Specifications......................................................7
1.4 EtherNet/IP.................................................................................8
1.4.1 Overview of EtherNet/IP ...................................................8
1.4.2 Features of EtherNet/IP....................................................8
1.4.3 General Specifications......................................................9
1.5 CC-Link.....................................................................................10
1.5.1 Overview of CC-Link.......................................................10
1.5.2 Features of CC-Link........................................................10
1.5.3 General Specifications....................................................11
1.6 PROFINET ...............................................................................12
1.6.1 Overview of PROFINET .................................................12
1.6.2 Features of PROFINET ..................................................12
1.6.3 PROFINET Communication ...........................................13
1.7 EtherCAT..................................................................................14
1.7.1 Overview of EtherCAT....................................................14
1.7.2 Features of EtherCAT.....................................................14
1.7.3 General Specifications....................................................15
2. Installation ............................................................16
2.1 DeviceNet.................................................................................16
2.1.1 How to Setup a DeviceNet Network...............................16
2.1.2 DeviceNet Network Construction ...................................17
2.1.3 DeviceNet Master Board Installation..............................25
2.1.4 DeviceNet Slave Board Installation ................................46
2.1.5 DeviceNet Slave Module Installation .............................52
2.2 PROFIBUS-DP.........................................................................57
2.2.1 How to Setup a PROFIBUS DP Network .......................57
2.2.2 PROFIBUS DP Network Construction............................57
2.2.3 PROFIBUS-DP Master Board Installation......................62
2.2.4 PROFIBUS-DP Slave Board Installation........................85

Table of Contents
viii RC700 / RC90 Option Fieldbus I/O Rev.12
2.2.5 PROFIBUS-DP Slave Module Installation .....................93
2.3 EtherNet/IP.............................................................................100
2.3.1 How to Setup a EtherNet/IP Network...........................100
2.3.2 EtherNet/IP Network Construction ...............................101
2.3.3 EtherNet/IP Master Board Installation..........................102
2.3.4 EtherNet/IP Slave Board Installation............................125
2.3.5 EtherNet/IP Slave Module Installation .........................131
2.4 CC-Link ..................................................................................138
2.4.1 CC-Link Slave Board Installation .................................138
2.4.2 CC-Link Slave Module Installation ...............................149
2.5 PROFINET .............................................................................159
2.5.1 PROFINET Slave Board Installation ............................159
2.5.2 PROFINET Slave Module Installation..........................165
2.6 EtherCAT................................................................................171
2.6.1 EtherCAT Slave Board Installation...............................171
2.6.2 EtherCAT Slave Module Installation ............................178
3. Operation ...........................................................185
3.1 SPEL+ Fieldbus I/O Commands............................................185
3.2 Outputs Off by Emergency Stop and Reset Instruction.........185
3.3 Using FbusIO_SendMsg........................................................186
3.4 Explicit Message Connection (for DeviceNet, EtherNet/IP) ..187
3.5 Remote Control Input and Output Setting .............................188
4. Troubleshooting.................................................. 195
4.1 DeviceNet Troubleshooting....................................................195
4.1.1 Examining a Problem ...................................................195
4.1.2 Problems and Countermeasures .................................197
4.1.3 Procedures for Examining Possible Causes................215
4.2 PROFIBUS DP Troubleshooting............................................228
4.2.1 Examining a Problem ...................................................228
4.2.2 Problems and Countermeasures .................................230
4.2.3 Procedures for Examining Possible Causes................245
4.3 EtherNet/IP Troubleshooting..................................................255
4.3.1 Examining a Problem ...................................................255
4.3.2 Problems and Countermeasures .................................257
4.3.3 Tests and diagnostics...................................................257
5. Maintenance Parts List .......................................264