Epson RC90 User manual

Robot Controller
RC700 / RC90 Option
Fieldbus I/O
Rev.14 EM198C4088F

Robot Controller RC70
0/ RC90 Option Fieldbus I/O Rev.14

RC700 / RC90 Option Fieldbus I/O Rev.14 i
Robot Controller RC700 / RC90 Option
Fieldbus I/O
Rev.14
Copyright © 2012-2019 SEIKO EPSON CORPORATION. All rights reserved.

ii RC700 / RC90 Option Fieldbus I/O Rev.14
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 contact the supplier of your region 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 acc
ident, 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.14 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® 7 Operating system
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 7, Windows 8, and Windows 10 refer to above
respective operating systems. In some cases, Windows refers generically to 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
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety and Installation Read this manual first

iv RC700 / RC90 Option Fieldbus I/O Rev.14
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, VT series Manipulator user only
T series and VT series Manipulators are controller integrated manipulators.
Read “Controller” and “Robot Controller” described in this manual as “T series
Manipulator” “VT series Manipulator”.

RC700 / RC90 Option Fieldbus I/O Rev.14 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
RC90-B
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
VT 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 7 Professional Service Pack 1
Windows 8.1 Pro
Windows 10 Pro

NOTE

NOTE

NOTE

vi RC700 / RC90 Option Fieldbus I/O Rev.14

Table of Contents
RC700 / RC90 Option Fieldbus I/O Rev.14 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 Installing DeviceNet Master Board manufactured by molex
...........................................................................................25
2.1.4 Installing DeviceNet Board manufactured by Hilscher...46
2.1.5 Installing DeviceNet Slave Board ...................................73
2.1.6 Installing DeviceNet Slave Module.................................79

Table of Contents
viii RC700 / RC90 Option Fieldbus I/O Rev.14
2.2 PROFIBUS-DP.........................................................................84
2.2.1 How to Setup a PROFIBUS DP Network.......................84
2.2.2 PROFIBUS DP Network Construction ...........................84
2.2.3 Installing PROFIBUS-DP Master Board.........................89
2.2.4 Installing PROFIBUS-DP Slave Board.........................112
2.2.5 Installing PROFIBUS-DP Slave Module ......................120
2.3 EtherNet/IP.............................................................................127
2.3.1 How to Setup a EtherNet/IP Network...........................127
2.3.2 EtherNet/IP Network Construction ...............................128
2.3.3 Installing EtherNet/IP Master Board Manufactured by molex
.........................................................................................129
2.3.4 Installing EtherNet/IP Board manufactured by Hilscher152
2.3.5 Installing EtherNet/IP Slave Board...............................186
2.3.6 Installing EtherNet/IP Slave Module.............................193
2.4 CC-Link ..................................................................................200
2.4.1 Installing CC-Link Slave Board ....................................200
2.4.2 Installing CC-Link Slave Module ..................................211
2.5 PROFINET .............................................................................221
2.5.1 Installing PROFINET Slave Board ...............................221
2.5.2 Installing PROFINET Slave Module.............................227
2.6 EtherCAT................................................................................233
2.6.1 Installing EtherCAT Slave Board..................................233
2.6.2 Installing EtherCAT Slave Module ...............................240
3. Operation ...........................................................247
3.1 SPEL+ Fieldbus I/O Commands............................................247
3.2 Outputs Off by Emergency Stop and Reset Instruction.........247
3.3 Using FbusIO_SendMsg........................................................248
3.4 Explicit Message Connection (for DeviceNet, EtherNet/IP) ..249
3.5 Setting Remote Control Input and Output .............................250
4. Troubleshooting.................................................. 257
4.1 DeviceNet Troubleshooting....................................................257
4.1.1 Examining a Problem ...................................................258
4.1.2 Problems and Countermeasures .................................260
4.1.3 Procedures for Examining Possible Causes................278
4.2 PROFIBUS DP Troubleshooting............................................291
4.2.1 Examining a Problem ...................................................291
4.2.2 Problems and Countermeasures .................................293
4.2.3 Procedures for Examining Possible Causes................308

Table of Contents
RC700 / RC90 Option Fieldbus I/O Rev.14 ix
4.3 EtherNet/IP Troubleshooting................................................. 318
4.3.1 Examining a Problem .................................................. 318
4.3.2 Problems and Countermeasures................................. 320
4.3.3 Tests and Diagnostics ................................................. 320
5. Maintenance Parts List .......................................327

Table of Contents
x RC700 / RC90 Option Fieldbus I/O Rev.14

1. Introduction
RC700 / RC90 Option Fieldbus I/O Rev.14 1
1. Introduction
1.1 Overview of Fieldbus I/O
The Fieldbus I/O option is an integrated I/O system that supports the following Fieldbuses
of the Robot system:
DeviceNet
PROFIBUS-DP
EtherNet/IP
CC-Link
PROFINET
EtherCAT
Fieldbus is a standard of signal communications between field devices operating in a
factory (sensor, actuator, Robot Controller, etc.) and Controller (PLC or Robot Controller)
using serial communications. Compared to signal communications using analog signals,
Fieldbus has the following features:
Access to signals from multiple devices and multiple data from each device using one
cable.
Precise signal transmission since there is no need for A/D conversion and D/A conversion.
Less wiring costs, including signal relay board costs and installation area due to several
dozen (or a hundred) devices connected on one Fieldbus.
More flexible modification and expansion of a system because multiple devices are simply
added to one Fieldbus without additional wiring.
Slave devices can transmit self-diagnostics information.
Master Devices
RS-232c RS-232c
Fieldbus
Sample Parallel Connection Sample Fieldbus Connection
Master Devices

1. Introduction
2 RC700 / RC90 Option Fieldbus I/O Rev.14
The Fieldbus master function can be added to the PC with the EPSON RC+ 7.0 installed
by installing the Fieldbus master board.
Each type of Fieldbus supports the following boards.
DeviceNet master board manufactured by molex
PROFIBUS-DP master board manufactured by molex
EtherNet/IP master board manufactured by molex
DeviceNet board manufactured by Hilscher
EtherNet/IP board manufactured by Hilscher
You can install one Fieldbus master board per PC.
To use the Fieldbus master I/O, the Fieldbus master option of EPSON RC+ software
options key must be enabled.
You can also add the Fieldbus slave function by installing the Fieldbus slave board to the
Robot Controller.
Each type of Fieldbus supports the following boards.
DeviceNet slave board
PROFIBUS-DP slave board
EtherNet/IP slave board
CC-Link slave board
PROFINET slave board
EtherCAT slave board
You can install one Fieldbus slave board per Controller.
One Fieldbus master board and one Fieldbus slave board of different Fieldbus types can be
used together.

1. Introduction
RC700 / RC90 Option Fieldbus I/O Rev.14 3
1.2 DeviceNet
1.2.1 Overview of DeviceNet
DeviceNet is a fieldbus network that provides easy interconnection between control
devices (PLC, PC, sensor, actuator, etc.).
DeviceNet was developed by Allen-Bradley as an open communication standard to
connect various field devices (sensor, actuator, Robot Controller, etc.). Because of the
open communication standard, DeviceNet users can easily construct a multi-vendor
system with various devices developed around the world.
Master Devices
Motor Driver
from Company A
Motor Driver
from Company B
Intelligent I/O
from Company C
Intelligent I/O
from Company D
Photo Sensor
from Company E
Analog Device
from Company G
HMI Device
from Company F
DeviceNet Network
1.2.2 Features of DeviceNet
Reduced Wiring
Compared with parallel wiring, DeviceNet employs a dedicated 5-wire cable (signal wires
and power wires) which substantially reduces the number of necessary wires, wiring time
and cost.
Detachable communication connectors provide you with simple wiring between nodes and
easy network separation or reconstruction.
Specified environment-resistance cables allow you to construct an environment-resistant
system at low cost.
Open Standard (Multi-vendor)
Due to an open communication standard, various devices from many manufacturers are
available. Standardized communication connectors provide you with easy network
reconstruction.
Maintenance spare parts stored on site (factory, etc.) can be reduced because different
manufacturers’ devices can be used in case of a breakdown. Similar products are available
around the world due to a global standard DeviceNet.

1. Introduction
4 RC700 / RC90 Option Fieldbus I/O Rev.14
Communication Types
There are two types of messaging connections: I/O messaging connection and Explicit
messaging connection. I/O messaging connection includes the four methods explained
below:
Polling : First, a master device sends output data to a slave device and then the
slave device responds. Data is normally exchanged in every
communication cycle. The communication frequency can be changed
by setting. This connection type is the most often used.
Strobe : First, a master device requests slave devices to send data with
multicast messages, and then, each slave device responds individually.
Data from many sensors on the system can be effectively gathered.
When the master does not receive responses from all requested slave
devices, a timeout error occurs.
Change Of State: A device sends data whenever it changes. Signals for device diagnosis
are sent regularly in the background. This connection type is useful for
remedying DeviceNet communication traffic.
Cyclic : A slave device transfers data regularly according to its internal timer.
This connection type is typically used for communicating with a
temperature controller.
The data transfer frequency is defined by master configuration.
For Change of State and Cyclic, the ACK which verifies communication completion
can be disabled by setting. However, never disable the ACK
since communication
errors cannot be detected.

NOTE

1. Introduction
RC700 / RC90 Option Fieldbus I/O Rev.14 5
1.2.3 General Specifications
DeviceNet Communication Specifications
Item
Specification
Supported
Connection
- I/O messaging connection
(Polling, Strove, Cyclic, Change of State)
- Explicit messaging connection
All connections are conformed to DeviceNet
communication protocol.
Baud Rates
125 kbps, 250 kbps, 500 kbps
Transfer Distance
Baud Rates Max. Network
Length
Drop Length Total Drop
Line Length
500 k (bps)
100 m
6 m or under
39 m or under
250 k (bps)
250 m *
6 m or under
78 m or under
125 k (bps)
500 m *
6 m or under
156 m or under
Maximum Nodes
64 (including master unit)
Data Length / Frame
8 bytes (data can be divided and transferred.)
Bus Access
CSMA/NBA
Error Detection
CRC error / Duplicate node address check
Cable 5-wire cable dedicated to DeviceNet
(2 wires for signal, 2 wires for power supply, 1 shield wire)
Communications
Power Supply
Voltage
24 V DC (supplied from a connector)
* When thin cable is used for trunk line, the maximum network length is 100 m.

1. Introduction
6 RC700 / RC90 Option Fieldbus I/O Rev.14
1.3 PROFIBUS DP
1.3.1 Overview of PROFIBUS DP
PROFIBUS DP is a fieldbus network that provides easy interconnection between control
devices (PLC, PC, sensor, actuator, etc.).
PROFIBUS DP was co-developed by Siemens, Bosch, and ABB as an open
communication standard to connect various field devices (sensor, actuator, Robot
Controller, etc.). Because of the open communication standard, PROFIBUS DP can easily
construct multi-vendor system with various devices developed around the world.
Master Device
Motor Driver
from Company B
Intelligent I/O
from Company C
Intelligent I/O
from Company D
Photo Sensor
from Company E
Analog Device
from Company G
HMI Device from
Company F
Motor Driver
from Company A
PROFIBUS-DP Network
1.3.2 Features of PROFIBUS DP
Reduced Wiring
Compared with a parallel wiring, PROFIBUS DP employing dedicated 2-wire cable
substantially reduces the number of necessary wires, wiring time and cost.
Detachable communication connector provides you a simple wiring between devices
(stations) and an easy network separation or reconstruction.
Fast Communication
PROFIBUS DP communication speed can be set up to 12Mbps. This is faster than
DeviceNet, another communication standard supported by the fieldbus I/O.
Open Standard (Multi-vendor)
Due to an open communication standard, various devices from many manufacturers are
available. Standardized communication connectors allow you to reconstruct your network
easily.
Maintenance parts stored on site (factory, etc.) can be reduced because different
manufacturers’ devices can be used in case of a breakdown. Similar products are available
around the world due to a global standard PROFIBUS DP.

1. Introduction
RC700 / RC90 Option Fieldbus I/O Rev.14 7
1.3.3 General Specifications
PROFIBUS DP Communication Specifications
Item
Specification
Communication
Method
Hybrid
(token passing procedure and master-slave
communication)
Baud Rates 9.6 kbps, 19.2 kbps, 93.75 kbps, 187.5 kbps, 500 kbps,
1500 kbps, 3 Mbps, 6 Mbps, and 12 Mbps.
Transfer Distance
Baud Rates
Cable Length
12 Mbps
6 Mbps
3 Mbps
1500 kbps
500 kbps
187.5 kbps
93.75 kbps
19.2 kbps
9.6 kbps
100 m
100 m
100 m
200 m
400 m
1000 m
1200 m
1200 m
1200 m
Maximum Stations
126 (including master unit and repeater)
Data Length / Frame
244 bytes
Cable
2-wire cable dedicated to PROFIBUS (2 wires for signal)

1. Introduction
8 RC700 / RC90 Option Fieldbus I/O Rev.14
1.4 EtherNet/IP
1.4.1 Overview of EtherNet/IP
EtherNet/IP is a fieldbus network that provides easy interconnection between control
devices (PLC, PC, sensor, actuator, etc.).
EtherNet/IP was developed by Allen-Bradley as an open communication standard to
connect various field devices (sensor, actuator, Robot Controller, etc.). Because of the
open communication standard, EtherNet/IP users can easily construct a multi-vendor
system with various devices developed around the world.
Master Device
Motor Driver
from Company A
Motor Driver
from Company B
Intelligent I/O
from Company C
Intelligent I/O
from Company D
Photo Sensor
from Company E
Analog Device
from Company G
HMI Device
from Company F
Ethernet/IP Network
1.4.2 Features of EtherNet/IP
Reduced Wiring
Compared with parallel wiring, EtherNet/IP employs a standard Ethernet cable which
substantially reduces the number of necessary wires, wiring time and cost.
Detachable communication connectors provide you with simple wiring between nodes and
easy network separation or reconstruction.
Specified environment-resistance cables allow you to construct an environment-resistant
system at low cost.
You can use the general Ethernet hub or Ethernet switch for EtherNet/IP.
However, be sure to use a product complying with the industrial standards or a noise-
resistant Ethernet cable (STP cable). If you use an office use product or UTP cable, it
may causes communication errors and may not offer the proper performance.
Open Standard (Multi-vendor)
Due to an open communication standard, various devices from many manufacturers are
available. Standardized communication connectors provide you with easy network
construction.
Maintenance spare parts stored on site (factory, etc.) can be reduced because different
manufacturers’ devices can be used in case of a breakdown. Similar products are available
around the world due to a global standard EtherNet/IP.

NOTE