Epson RC700 User manual

Original instructions
Control Unit RC700
RC700-A
Drive Unit RC700DU
RC700DU-A
Rev.3 ENM226C5414F
ROBOT CONTROLLER
RC700 Series
Manual

ROBOT CONTROLLER RC700 / RC Series Rev.3

RC700 Series Rev.3 i
ROBOT CONTROLLER
RC700 Series Manual
Rev.3
Seiko Epson Corporation 2021-2022

ii RC700 Series Rev.3
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 Series Rev.3 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 Series Rev.3
Before Reading This Manual
Do not connect the followings to the TP port of RC700 / RC700-A. 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 / RC700-A, be sure to install the EPSON RC+7.0 to the development PC first, then
connect the development PC and RC700 / RC700-A with the USB cable.
If RC700 / RC700-A 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.
In this manual, the control unit and drive unit may be collectively referred to as “controller”.

NOTE
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NOTE
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NOTE
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NOTE
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NOTE

RC700 Series Rev.3 v
Structure of Robot System
The Drive Unit RC700DU can be used with the following version.
EPSON RC+ 7.0 Ver.7.1.0 or later
Control Unit RC700-A
Drive Unit RC700DU-A can be used with the following version.
EPSON RC+ 7.0 Ver.7.1.2 or later
Each manipulator can be used with the following version.
C4 Series : EPSON RC+ 7.0 Ver.7.0.0
C8 Series (C8XL) : EPSON RC+ 7.0 Ver.7.1.3
C8 Series (C8, C8L) : EPSON RC+ 7.0 Ver.7.1.4
C8 Series (wall mounting) : EPSON RC+ 7.0 Ver.7.2.0
C12 Series : EPSON RC+ 7.0 Ver.7.4.6
N2 Series : EPSON RC+ 7.0 Ver.7.2.0
N6 Series (N6-A1000**) : EPSON RC+ 7.0 Ver.7.3.4
N6 Series (N6-A850**R) : EPSON RC+ 7.0 Ver.7.4.1
G1, G3, G6, G10, G20, RS Series : EPSON RC+ 7.0 Ver.7.1.2

vi RC700 Series Rev.3
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 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
xx series Manual (PDF) (xx: Manipulator series name)
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.
RC700 series Maintenance Manual (PDF)
xx series Maintenance Manual (PDF) (xx: Manipulator series name)
This manual describes the details of maintenance etc. The manual is intended for people
who perform maintenance.
-Daily inspection
-Replacement and repair of maintenance parts
-The method of firmware update and controller setting backup etc.

RC700 Series Rev.3 vii
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.

viii RC700 Series Rev.3

Table of Contents
RC700 Series Rev.3 ix
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. ..................................................................................6
2.4 Manipulator Installation...........................................................................10
2.4.1 Transportation Precautions.........................................................10
2.4.2 Environment ................................................................................10
2.4.3 Noise level...................................................................................11
2.4.4 Base Table ..................................................................................11
2.4.5 Installation Procedure .................................................................14
2.5 Control Unit and Drive Unit Installation ..................................................27
2.5.1 Environment ................................................................................27
2.5.2 Installation ...................................................................................28
2.5.3 Wall Mounting Option..................................................................30
2.6 Designing a Safe Robot System.............................................................31
2.6.1 Environmental Conditions ...........................................................31
2.6.2 System Layout ............................................................................31
2.6.3 Disabling Power to the System using lock out / tag out .............32
2.6.4 End Effector Design ....................................................................32
2.6.5 Peripheral Equipment Design .....................................................33
2.6.6 Remote Control ...........................................................................33
2.6.7 Emergency Stop..........................................................................33
2.6.8 Safeguard....................................................................................35
2.6.9 Presence Sensing Device...........................................................36
2.6.10 Resetting the Safeguard ...........................................................37
2.6.11 Robot Operation Panel .............................................................37
2.7 Connecting..............................................................................................37
2.7.1 Connection to EMERGENCY Connector....................................37
2.7.2 Power Supply ..............................................................................48
2.7.3 Connecting Control Unit and Drive Unit......................................51
2.7.4 Drive Unit Setup ..........................................................................52

Table of Contents
xRC700 Series Rev.3
2.7.5 Connecting Manipulator and Controller......................................53
2.8 Saving Default Status.............................................................................54
2.9 Adding Information of the Additional System .........................................54
3. Power-ON 56
3.1 Power-ON Precautions...........................................................................56
3.2 Power ON Procedure .............................................................................58
4. First Step 59
4.1 Installing EPSON RC+ 7.0 Software......................................................59
4.2 Development PC and Controller Connection .........................................61
4.2.1 About Development PC Connection USB Port...........................62
4.2.2 Precaution...................................................................................62
4.2.3 Software Setup and Connection Check......................................63
4.2.4 Backup the initial condition of the Controller ..............................64
4.2.5 Disconnection of Development PC and Controller..................... 64
4.2.6 Moving the Robot to Initial Position ............................................ 64
4.3 Writing your first program .......................................................................68
5. Second Step 73
5.1 Connection with External Equipment .....................................................73
5.1.1 Remote Control...........................................................................73
5.1.2 Ethernet.......................................................................................73
5.1.3 RS-232C (Option) .......................................................................73
5.1.4 Analog I/O board (Option)...........................................................73
5.1.5 Force Sensor I/F board (Option).................................................73
5.2 Ethernet Connection of Development PC and Controller ......................74
5.3 Connection of Teach Pendant (Option)..................................................74

Table of Contents
RC700 Series Rev.3 xi
Functions
1. Specifications 77
1.1 System Example.....................................................................................77
1.2 Standard Specifications..........................................................................79
1.3 Outer Dimensions ...................................................................................82
2. Part Names and Functions 84
2.1 LED and Seven-segment LED ...............................................................90
2.1.1 LED and Seven-segment LED Display.......................................90
2.1.2 Particular Status Display.............................................................92
2.2 Safety Features.......................................................................................92
3. Installation 95
3.1 Unpacking ...............................................................................................95
3.2 Environmental Requirements .................................................................96
3.2.1 Environment ................................................................................96
3.2.2 Installation ...................................................................................97
3.2.3 Wall Mounting Option..................................................................99
3.3 Power Supply........................................................................................100
3.3.1 Specifications ............................................................................100
3.3.2 AC Power Cable........................................................................102
3.4 Cable Connection .................................................................................103
3.4.1 Typical Cable Connection .........................................................104
3.4.2 Connecting Manipulator to Controller .......................................108
3.5 Noise Countermeasures.......................................................................109
4. Connecting Drive Unit 111
5. Drive Unit Setup 112
6. Operation Mode (TEACH/AUTO/TEST) 115
6.1 Overview ...............................................................................................115
6.2 Switch Operation Mode ........................................................................116
6.3 Program Mode (AUTO).........................................................................117
6.3.1 What is Program Mode (AUTO)?..............................................117
6.3.2 Setup from EPSON RC+...........................................................117
6.4 Auto Mode (AUTO) ...............................................................................118
6.4.1 What is Auto mode (AUTO)? ....................................................118

Table of Contents
xii RC700 Series Rev.3
6.4.2 Setup from EPSON RC+ ..........................................................118
6.4.3 Setup from Control Device........................................................119
7. Development PC Connection USB Port 120
7.1 About Development PC Connection USB Port ....................................120
7.2 Precaution.............................................................................................121
7.3 PC and Controller Connection Using Development PC Connection USB
Port .......................................................................................................121
7.4 Disconnection of Development PC and Controller...............................122
7.5 How to Fix USB Cable..........................................................................122
8. Memory Port 123
8.1 What is Backup Controller Function?...................................................123
8.2 Before Using Backup Controller Function............................................123
8.2.1 Precautions ...............................................................................123
8.2.2 Adoptable USB Memory ...........................................................123
8.3 Backup Controller Function ..................................................................124
8.3.1 Backup Controller with Trigger Button......................................124
8.3.2 Load Data with EPSON RC+ 7.0..............................................124
8.3.3 Transfer with E-mail ..................................................................124
8.4 Details of Data ......................................................................................125
9. LAN (Ethernet Communication) Port 126
9.1 About the LAN (Ethernet Communication) Port...................................126
9.2 IP Address ............................................................................................127
9.3 Changing Controller IP Address...........................................................127
9.4 Connection of Development PC and Controller with Ethernet.............128
9.5 Disconnection of Development PC and Controller with Ethernet ........129
10. TP Port 130
10.1 What is the TP Port? ..........................................................................130
10.2 Teach Pendant Connection................................................................131
11. EMERGENCY 132
11.1 Safety Door Switch and Latch Release Switch..................................133
11.1.1 Safety Door Switch .................................................................133
11.1.2 Latch Release Switch .............................................................134
11.1.3 Checking Latch Release Switch Operation ............................134

Table of Contents
RC700 Series Rev.3 xiii
11.2 Emergency Stop Switch Connection ..................................................135
11.2.1 Emergency Stop Switch..........................................................135
11.2.2 Checking Emergency Stop Switch Operation.........................135
11.2.3 Recovery from Emergency Stop.............................................135
11.3 Pin Assignments .................................................................................136
11.4 Circuit Diagrams .................................................................................137
11.4.1 Circuit and Wiring for Control Unit ..........................................137
11.4.2 Circuit and Wiring for Drive Unit..............................................139
12. Standard RS-232C Port 143
12.1 RS-232C Port......................................................................................143
12.2 Confirmation with EPSON RC+ 7.0 (RS-232C) .................................143
12.3 RS-232C Software Communication Setup (RS-232C) ......................144
12.4 Communication Cable (RS-232C)......................................................144
13. I/O Connector 145
13.1 Input Circuit.........................................................................................145
13.1.1 Typical Input Circuit Application 1...........................................146
13.1.2 Typical Input Circuit Application 2...........................................147
13.2 Output Circuit......................................................................................148
13.2.1 Typical Output Circuit Application 1: Sink Type (NPN) ..........149
13.2.2 Typical Output Circuit Application 2: Source Type (PNP) ......149
13.3 Pin Assignments .................................................................................150
14. I/O Remote Settings 151
14.1 I/O Signal Descriptio ...........................................................................152
14.1.1 Remote Input Signals..............................................................152
14.1.2 Remote Output Signals...........................................................156
14.2 Timing Specifications..........................................................................160
14.2.1 Design Notes for Remote Input Signals..................................160
14.2.2 Timing Diagram for Operation Execution Sequence ..............160
14.2.3 Timing Diagram for Program Execution Sequence ................160
14.2.4 Timing Diagram for Safety Door Input Sequence...................161
14.2.5 Timing Diagram for Emergency Stop Sequence ....................161
15. R-I/O Connector 162
15.1 Input Circuit.........................................................................................162
15.1.1 Input Circuit for Control Unit....................................................163

Table of Contents
xiv RC700 Series Rev.3
Typical Input Circuit Application 1 ........................................................163
Typical Input Circuit Application 2 ........................................................163
15.1.2 Input Circuit for Drive Unit.......................................................164
Typical Input Circuit Application 1 ........................................................164
Typical Input Circuit Application 2 ........................................................164
15.2 Pin Assignments.................................................................................165
15.2.1 Pin Assignments for Control Unit............................................165
15.2.2 Pin Assignments for Drive Unit...............................................165
16. Option Slots 166
16.1 About Option Slots..............................................................................166
16.2 Expansion I/O Board ..........................................................................166
16.2.1 Expansion I/O Board...............................................................166
16.2.2 Board Configuration (Expansion I/O Board)...........................167
16.2.3 Confirmation with EPSON RC+ 7.0 (Expansion I/O Board)...167
16.2.4 Input Circuit.............................................................................168
16.2.5 Output Circuit ..........................................................................170
Typical Output Circuit Application 1: Sink Type (NPN)........................171
Typical Output Circuit Application 2: Source Type (PNP)....................172
16.2.6 Pin Assignments (Expansion I/O Board)................................173
16.3 Fieldbus I/O Board..............................................................................177
16.4 RS-232C Board ..................................................................................178
16.4.1 About the RS-232C Board......................................................178
16.4.2 Board Setup (RS-232C)..........................................................178
16.4.3 Confirmation with EPSON RC+ (RS-232C)............................179
16.4.4 RS-232C Software Communication Setup (RS-232C)...........179
16.4.5 Communication Cable (RS-232C) ..........................................180
16.5 PG Board............................................................................................181
16.6 Analog I/O Board ................................................................................181
16.6.1 About Analog I/O Board..........................................................181
16.6.2 Board Configuration (Analog I/O Board) ................................182
16.6.3 Confirmation with EPSON RC+ (Analog I/O Board)...............185
16.6.4 Input Circuit (Analog I/O Board) .............................................186
16.6.5 Output Circuit (Analog I/O Board)...........................................186
16.6.6 Pin Assignments (Analog I/O Board)......................................187
16.7 Force Sensor I/F Board ......................................................................188
16.7.1 About Force Sensor I/F Board................................................188
16.7.2 Board Configuration (Force Sensor I/F Board).......................188
16.7.3 Confirmation with EPSON RC+ (Force Sensor I/F Board).....189

Table of Contents
RC700 Series Rev.3 xv
16.8 EUROMAP67 Board ...........................................................................190
16.8.1 Notes on the EUROMAP67 Board..........................................192
16.8.2 Board Settings (EUROMAP67 Board)....................................193
16.8.3 Installation (EUROMAP67 Board) ..........................................193
16.8.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board).......194
16.8.5 Sample Project (EUROMAP67 Board) ...................................194
16.8.6 Circuit Overview (EUROMAP67 Board) .................................195
16.8.7 Input Circuit (EUROMAP67 Board) ........................................196
16.8.8 Output Circuit (EUROMAP67 Board)......................................196
16.8.9 Emergency Stop, Safeguard (EUROMAP67 Board) ...........197
16.8.10 I/O Pin Assignments (EUROMAP67 Board).........................198
16.8.11 Emergency stop connecter Pin Assignments (EUROMAP67
Board) .......................................................................................200
Regular Inspections
1. Regular Inspection for RC700 / RC700-A 205
1.1 Inspections and Schedules...................................................................205
2. Regular Inspection for RC700DU / RC700DU-A 206
2.1 Inspections and Schedules...................................................................206
Appendix
Appendix A: Open Source Software License 209

Table of Contents
xvi RC700 Series Rev.3

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