Epson RC90 User manual

RC90-B
Rev.1 EM216C4692F
ROBOT CONTROLLER
RC90 Series
Maintenance Manual

ROBOT CONTROLLER RC90 RC Series Maintenance Manual Rev.1

RC90 Series Maintenance Rev.1 i
ROBOT CONTROLLER
RC90 Series Maintenance Manual
Rev.1
Copyright © 2021 SEIKO EPSON CORPORATION. All rights reserved.

ii RC90 Series Maintenance Rev.1
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

RC90 Series Maintenance Rev.1 iii
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.
Regarding battery disposal
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.
The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual
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 RC90 Series Maintenance Rev.1
Before Reading This Manual
Do not connect the followings to the TP/OP port of RC90-B. 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 RC90-B, be sure to install the EPSON RC+7.0 to the development PC first, then connect the
development PC and RC90-B with the USB cable.
If RC90-B 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.

NOTE

NOTE

NOTE

NOTE

RC90 Series Maintenance Rev.1 v
Control System Configuration
This manual explains with the following combinations of Controllers and software.
Robot Controller RC90-B:
RC90-B controller firmware
Ver.7.4.2.0 or later
EPSON RC+ 7.0
Before Ver.7.4.1
!!!
Ver.7.4.2 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. 7.4.2 or
later.
Manual PDF for this robot system is available from EPSON RC+ 7.0 Ver. 7.0.2

NOTE

vi RC90 Series Maintenance Rev.1
Each Manipulator is compatible from following version.
LS3-B****
RC90-B controller firmware
Ver.7.4.4.2 or later
EPSON RC+ 7.0
Before Ver.7.4.3
!!!
Ver.7.4.4 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. 7.4.2
or later.
LS6-B****
RC90-B controller firmware
Ver.7.4.3.1 or later
EPSON RC+ 7.0
Before Ver.7.4.2
!!!
Ver.7.4.3 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. 7.4.2
or later.
LS6-B602S-V1
RC90-B controller firmware
Ver.7.5.0.5 or later
EPSON RC+ 7.0
Before Ver.7.5.0
!!!
Ver.7.5.0 R3 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. 7.4.2
or later.
LS10-B****
RC90-B controller firmware
Ver.7.4.2.1 or later
EPSON RC+ 7.0
Before Ver.7.4.1
!!!
Ver.7.4.2 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. 7.4.2
or later.
LS20-B****
RC90-B controller firmware
Ver.7.4.5 or later
EPSON RC+ 7.0
Before Ver.7.4.4
!!!
Ver.7.4.5 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. 7.4.2
or later.

RC90 Series Maintenance Rev.1 vii
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
RC90 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.
RC90 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.

viii RC90 Series Maintenance Rev.1
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.

Table of Contents
RC90 Series Maintenance Rev.1 ix
Maintenance
1. Safety Precautions on Maintenance 3
1.1 Safety Precautions....................................................................................3
1.2 Lockout / Tagout .......................................................................................4
2. Regular Maintenance Inspection 6
2.1 Inspection Point and Frequency ...............................................................6
2.2 Timing of Replacement.............................................................................6
3. Controller Structure 7
3.1 Location of Parts.......................................................................................7
3.1.1 For LS3-B, LS6-B..........................................................................7
3.1.2 For LS10-B, LS20-B, LS6-B602S-V1 ...........................................7
3.2 Diagram of Cable Connections.................................................................8
3.2.1 For LS3-B, LS6-B..........................................................................8
3.2.2 For LS10-B, LS20-B, LS6-B602S-V1 ...........................................8
4. Backup and Restore 9
4.1 What is the Backup Controller Function? .................................................9
4.2 Backup Data Types ..................................................................................9
4.3 Backup ....................................................................................................10
4.4 Restore....................................................................................................11
5. Firmware Update 14
5.1 Updating Firmware..................................................................................14
5.2 Firmware Upgrade Procedure ................................................................14
5.3 Controller Recovery ................................................................................17
5.4 Firmware Initialization Procedure ...........................................................18
5.5 Adding Confirmation Steps by Strengthening Security of EtherNet
Connection..............................................................................................20
6. Alarm 24
6.1 Before Controller Firmware Ver.7.1.8.x..................................................25
6.1.1 Alarm Configuration ....................................................................25
6.1.2 How to View the Alarm Information ............................................26
6.1.3 How to Edit the Alarm Information ..............................................27
6.1.4 Alarm Notifying Method...............................................................27
6.1.5 How to Cancel the Alarm ............................................................28
6.2 Controller Firmware Ver.7.2.0.x or later .................................................29

Table of Contents
xRC90 Series Maintenance Rev.1
6.2.1 Maintenance Information ............................................................29
6.2.2 How to View the Maintenance Information.................................30
6.2.3 How to Edit the Maintenance Information...................................32
6.2.4 Alarm Notifying Method...............................................................33
6.2.5 How to Cancel the Alarm ............................................................33
7. Option Parts Replacement Procedures 34
7.1 Option Board...........................................................................................34
7.2 EUROMAP67 Board...............................................................................36
8. Maintenance Parts Replacement Procedures 38
8.1 Fan Filter.................................................................................................39
8.2 Fan..........................................................................................................40
8.3 Battery.....................................................................................................41
8.4 CF (Compact Flash) ...............................................................................43
8.5 MDB........................................................................................................44
8.6 DMB........................................................................................................46
8.7 DMB Sub Board......................................................................................50
8.8 DPB.........................................................................................................51
9. Verifying Robot System Operation 53
10. Troubleshooting 54
10.1 Error Code Table ..................................................................................54
10.2 Cannot Connect the Development PC and the Controller using the
USB cable...............................................................................................54
10.2.1 Confirmation Using Windows Device Manager........................54
10.2.2 When recognized under “Other devices” in Windows Device
Manager......................................................................................56
11. Maintenance Parts List 57
12. Option Parts List 58

1
RC90-B Maintenance
This section contains maintenance procedures for RC90-B.

Maintenance 1. Safety Precautions on Maintenance
RC90 Series Maintenance Rev.1 3
1. Safety Precautions on Maintenance
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.
1.1 Safety Precautions
WARNING
■
Teaching robot system shall be performed by personnel who has taken robot
system training held by us and suppliers
.
■
Maintenance of robot system shall be performed by
personnel who has taken
robot system training held by us and suppliers
.
■
Make sure to use only dedicated/specified maintenance parts especially for the
optional boards or any other
parts in the Controller to be replaced. Using non-
specified parts may cause serious damage to the robot
system and/or serious
safety problems.
■
Do not
remove any parts that are not covered in this manual. Follow the
maintenance procedure strictly as described in this manual.
Do not proceed
using
any methods other than described in this manual when you do replace a
part or maintain the equipment
.
Improper removal of parts or improper
maintenance may cause not only improper function of the robot system but also
serious safety problems.
WARNING
■
B
efore performing any maintenance procedure, always make sure that the main
power
of the Controller is turned OFF, disconnect the power supply, and that the
high voltage charged area is completely discharged.
Performing any
maintenance procedure while the main power is ON or the high voltage charged
area isn
’t discharged completely is extremely hazardous and may result in electric
shock and/or cause serious safety problems.
CAUTION
■
Do not touch the
Motor Driver modules and Switching Power Supply directly in the
Controller. T
he metal resistance of these can become very hot and may result in
a burn
. If you maintain them, examine the surface temperatures and wear
protective gloves if necessary
.
■
Do not shock, shake
, or drop any parts during maintenance. When the parts
related with data
are shocked physically, they may be damaged and may also
cause data loss during data loading/saving
.

NOTE

Maintenance 1. Safety Precautions on Maintenance
4RC90 Series Maintenance Rev.1
CAUTION
■
Do not lose the screws removed at maintenance. When the screw is dropped
into the Controller, be sure to take it out. Leaving the screw in the Controller may
cause short circuit and may result in equipment damage to the parts and/or robot
system.
■
Make sure that the
power rating (wattage) of a new Motor Driver
module is correct.
Using a Motor Driver module with improper power rating (
wattage) in the
Controller may
cause improper function of the robot system and errors.
■
The serial number of
the Manipulator that should be connected is indicated on the
Connection Check Label
on the Controller. Connect the Controller and the
Manipulator correctly.
Improper connection between the Controller and the
Manipulator may cause not only improper functi
on of the robot system but also
serious safety problems.
Before performing maintenance on the Controller, all the data must be copied as a backup.
The details of data backup/restore are described in the 4. Backup and Restore.
1.2 Lockout / Tagout
Lockout / tagout is a method to prevent anyone from turning ON the robot system by mistake
while someone else is within the safeguarded area for maintenance or repair.
When performing maintenance and repair, lockout and tagout using the following procedure.
Use the lockout attachment for RC90-B.
Installing the Lockout Attachment
(1) Turn OFF the POWER switch and place the lockout attachment on the POWER switch.
Insert the pin in the holes under the retractable actuator.
Push the pin in the direction
of arrows, and insert the pin
in the holes. POWER
switch
Hole
Lockout
Attachment
Pin
(2) Turn the lockout
attachment.
(3) Install the lockout
attachment on the
switch.
(4) Slide the pin to the
lock position.
Lock position

NOTE

Maintenance 1. Safety Precautions on Maintenance
RC90 Series Maintenance Rev.1 5
Padlock Size and Weight
The padlock is not supplied with the lockout attachment and must be supplied by the user.
The total weight of the padlock can be a maximum of 45 g.
Make sure the padlock weight does not exceed 45 g, otherwise the POWER switch may be
damaged.
Applicable Padlock
Safety Precautions
・When using the padlock, do not use the controller where it is subject to vibration or
shock, otherwise failure or damage may result.
・Do not apply a force of more than 50N on the lockout attachment, otherwise the lockout
attachment will be damaged.

Maintenance 2. Regular Maintenance Inspection
6RC90 Series Maintenance Rev.1
2. Regular Maintenance Inspection
Performing regular maintenance inspection properly is essential for preventing trouble and
maintaining safety. This chapter describes the schedules for maintenance inspection and
procedures.
Be sure to perform the maintenance inspections in accordance with the schedules.
You will need following tools for maintenance inspection.
Phillips screwdriver
Slotted head screwdriver
Nut driver
Plier
Needle-nose plier
Nipper
Tester
2.1 Inspection Point and Frequency
Inspection Point
Frequency
Method
Check Item
Controller
12 months
Turn ON/OFF motor and Restart
Activates without any error
Emergency Stop Button 12 months
When the motor turned on,
activate the emergency stop button
Turns off the motor
Safeguard 12 months
When the motor turned on,
turn on the safeguard
Turns off the motor
Fan Filter
1 months
Visual inspection and cleaning
No stain
Fan
1 months
Checking the operating sound
No noise
Battery
12 months
Visual inspection of seven-segment and
LED
No alarm occurred
2.2 Timing of Replacement
Part Frequency Parts Code
Working Time
(Rough)
Reference
Fan Filter
4 years or deteriorated
2195107
5 min.
8.1 Fan Filter
Fan
Error 515 occurred or noise
2157260
20 min.
8.2 Fan
Battery
Every 5 years or error 511 occurred
2113554
15 min.
8.3 Battery

Maintenance 3. Controller Structure
RC90 Series Maintenance Rev.1 7
3. Controller Structure
3.1 Location of Parts
3.1.1 For LS3-B, LS6-B
MDB2
DPB
24V
Switching Power Supply Module
MDB1
Fan
DMB Sub Board
DMB
5V
Switching Power Supply Module
15V
Switching Power Supply Module
Option Slots
CF
Battery
3.1.2 For LS10-B, LS20-B, LS6-B602S-V1
MDB2
DPB
MDB1
Fan
DMB Sub Board
Option Slots
CF
Battery
Regenerative
resistor

Maintenance 3. Controller Structure
8RC90 Series Maintenance Rev.1
3.2 Diagram of Cable Connections
3.2.1 For LS3-B, LS6-B
(Connecters in the blue dotted line (RC90-B) work properly in any order.)
3.2.2 For LS10-B, LS20-B, LS6-B602S-V1
(Connecters in the blue dotted line (RC90-B) work properly in any order.)