Epson RC700A Controller Manual

ROBOT CONTROLLER

RC700 / RC700-A

Rev.25 EM19ZC4205F

ROBOT CONTROLLER

RC700 / RC700-A

Rev.25

RC700 / RC700-A Rev.25 i

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.

WARRANTY

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.

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 system 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. ii RC700 / RC700-A Rev.25

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® 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

RC700 / RC700-A Rev.25 iii

Before Reading This Manual

NOTE

Do not connect the followings to the TP/OP 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

NOTE



NOTE



NOTE



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. iv RC700 / RC700-A Rev.25

Table of Contents

Safety

1. Safety 3

2. Conventions 3

3. Safety Precautions 4

Setup & Operation

1. Specifications 9

1.1 System Example ....................................................................................... 9

1.2 Standard Specifications .......................................................................... 11

1.3 Outer Dimensions ................................................................................... 13

2. Part Names and Functions 14

2.1 LED and Seven-segment LED ............................................................... 18

2.1.1 LED and Seven-segment LED Display ....................................... 18

2.1.2 Particular Status Display ............................................................. 19

2.2 Safety Features ....................................................................................... 20

3. Installation 22

3.1 Unpacking ............................................................................................... 22

3.2 Environmental Requirements ................................................................. 22

3.2.1 Environment ................................................................................ 22

3.2.2 Installation ................................................................................... 23

3.2.3 Wall Mounting Option .................................................................. 24

3.3 Power Supply .......................................................................................... 28

3.3.1 Specifications .............................................................................. 28

3.3.2 AC Power Cable .......................................................................... 29

3.4 Cable Connection ................................................................................... 30

3.4.1 Typical Cable Connection ........................................................... 31

3.4.2 Connecting Manipulator to Controller ......................................... 33

3.5 Noise Countermeasures ......................................................................... 34

4. Operation Mode (TEACH/AUTO/TEST) 35

4.1 Overview ................................................................................................. 35

4.2 Switch Operation Mode .......................................................................... 36

4.3 Program Mode (AUTO) ........................................................................... 37

RC700 / RC700-A Rev.25 v

Table of Contents

4.3.1 What is Program Mode (AUTO)?................................................ 37

4.3.2 Setup from EPSON RC+ ............................................................ 37

4.4 Auto Mode (AUTO) ................................................................................. 38

4.4.1 What is Auto mode (AUTO)? ...................................................... 38

4.4.2 Setup from EPSON RC+ ............................................................ 38

4.4.3 Setup from Control Device .......................................................... 39

5. Development PC Connection USB Port 40

5.1 About Development PC Connection USB Port ...................................... 40

5.2 Precaution ............................................................................................... 40

5.3 PC and Controller Connection Using Development PC Connection

USB Port ................................................................................................. 41

5.4 Disconnection of Development PC and Controller ................................. 42

5.5 How to Fix USB Cable ............................................................................ 42

6. Memory Port 43

6.1 What is Backup Controller Function? ..................................................... 43

6.2 Before Using Backup Controller Function .............................................. 43

6.2.1 Precautions ................................................................................. 43

6.2.2 Adoptable USB Memory ............................................................. 43

6.3 Backup Controller Function .................................................................... 44

6.3.1 Backup Controller with Trigger Button ........................................ 44

6.3.2 Load Data with EPSON RC+ 7.0 ................................................ 44

6.3.3 Transfer with E-mail .................................................................... 44

6.4 Details of Data ........................................................................................ 45

7. LAN (Ethernet Communication) Port 46

7.1 About the LAN (Ethernet Communication) Port ..................................... 46

7.2 IP Address .............................................................................................. 46

7.3 Changing Controller IP Address ............................................................. 47

7.4 Connection of Development PC and Controller with Ethernet ............... 48

7.5 Disconnection of Development PC and Controller with Ethernet .......... 49

8. TP Port 50

8.1 What is the TP Port? .............................................................................. 50

8.2 Teach Pendant Connection .................................................................... 51 vi RC700 / RC700-A Rev.25

Table of Contents

9. EMERGENCY 52

9.1 Safety Door Switch and Latch Release Switch ...................................... 52

9.1.1 Safety Door Switch ...................................................................... 53

9.1.2 Latch Release Switch .................................................................. 53

9.1.3 Checking Latch Release Switch Operation ................................ 54

9.2 Emergency Stop Switch Connection ...................................................... 55

9.2.1 Emergency Stop Switch .............................................................. 55

9.2.2 Checking Emergency Stop Switch Operation ............................. 55

9.2.3 Recovery from Emergency Stop ................................................. 55

9.3 Pin Assignments ..................................................................................... 56

9.4 Circuit Diagrams ..................................................................................... 57

9.4.1 Example 1: External emergency stop switch typical application 57

9.4.2 Example 2: External safety relay typical application ................... 58

10. Standard RS-232C Port 59

10.1 RS-232C Port ........................................................................................ 59

10.2 Confirmation with EPSON RC+ 7.0 (RS-232C) ................................... 59

10.3 RS-232C Software Communication Setup (RS-232C)......................... 60

10.4 Communication Cable (RS-232C) ........................................................ 60

11. I/O Connector 61

11.1 Input Circuit ........................................................................................... 61

11.2 Output Circuit ........................................................................................ 64

11.3 Pin Assignments ................................................................................... 66

12. I/O Remote Settings 67

12.1 I/O Signal Description ........................................................................... 68

12.1.1 Remote Input Signals ................................................................ 68

12.1.2 Remote Output Signals ............................................................. 72

12.2 Timing Specifications ............................................................................ 75

12.2.1 Design Notes for Remote Input Signals .................................... 75

12.2.2 Timing Diagram for Operation Execution Sequence ................ 75

12.2.3 Timing Diagram for Program Execution Sequence .................. 75

12.2.4 Timing Diagram for Safety Door Input Sequence ..................... 76

12.2.5 Timing Diagram for Emergency Stop Sequence ...................... 76

13. R-I/O Connector 77

13.1 Input Circuit ........................................................................................... 77

13.2 Pin Assignments ................................................................................... 78

RC700 / RC700-A Rev.25 vii

Table of Contents viii

14. Option Slots 79

14.1 About Option Slots ................................................................................ 79

14.2 Expansion I/O Board ............................................................................ 80

14.2.1 Expansion I/O Board ................................................................. 80

14.2.2 Board Configuration (Expansion I/O Board) ............................. 80

14.2.3 Confirmation with EPSON RC+ 7.0 (Expansion I/O Board) ..... 80

14.2.4 Input Circuit ............................................................................... 81

14.2.5 Output Circuit ............................................................................ 83

14.2.6 Pin Assignments (Expansion I/O Board) .................................. 86

14.3 Fieldbus I/O Board ................................................................................ 90

14.4 RS-232C Board .................................................................................... 91

14.4.1 About the RS-232C Board ........................................................ 91

14.4.2 Board Setup (RS-232C) ............................................................ 91

14.4.3 Confirmation with EPSON RC+ (RS-232C) .............................. 92

14.4.4 RS-232C Software Communication Setup (RS-232C) ............. 92

14.4.5 Communication Cable (RS-232C) ............................................ 93

14.5 PG Board .............................................................................................. 94

14.6 Analog I/O Board .................................................................................. 95

14.6.1 About Analog I/O Board ............................................................ 95

14.6.2 Board Configuration (Analog I/O Board)................................... 96

14.6.3 Confirmation with EPSON RC+ (Analog I/O Board) ................. 99

14.6.4 Input Circuit (Analog I/O Board) ............................................. 100

14.6.5 Output Circuit (Analog I/O Board) ........................................... 100

14.6.6 Pin Assignments (Analog I/O Board) ...................................... 101

14.7 Force Sensor I/F Board ...................................................................... 102

14.7.1 About Force Sensor I/F Board ................................................ 102

14.7.2 Board Configuration (Force Sensor I/F Board) ....................... 102

14.7.3 Confirmation with EPSON RC+ (Force Sensor I/F Board) ..... 103

14.8 EUROMAP67 Board ........................................................................... 104

14.8.1 Notes on the EUROMAP67 Board ......................................... 106

14.8.2 Board Settings (EUROMAP67 Board) .................................... 108

14.8.3 Installation (EUROMAP67 Board) .......................................... 108

14.8.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board) ...... 111

14.8.5 Sample Project (EUROMAP67 Board) ................................... 111

14.8.6 Circuit Overview (EUROMAP67 Board) ................................. 112

14.8.7 Input Circuit (EUROMAP67 Board) ........................................ 113

14.8.8 Output Circuit (EUROMAP67 Board) ..................................... 113

14.8.9 Emergency Stop, Safeguard (EUROMAP67 Board) ........... 114

14.8.10 I/O Pin Assignments (EUROMAP67 Board) ......................... 115

RC700 / RC700-A Rev.25

Table of Contents

14.8.11 Emergency stop connecter Pin Assignments

(EUROMAP67 Board) ............................................................... 117

Maintenance

1. Safety Precautions on Maintenance

2. Regular Maintenance Inspection

121

123 3. Controller Structure 124

3.1 Location of Parts ................................................................................... 124

3.1.1 RC700 ....................................................................................... 124

3.1.2 RC700-A .................................................................................... 124

3.2 Diagram of Cable Connections ............................................................. 125

3.2.1 RC700 ....................................................................................... 125

3.2.2 RC700-A .................................................................................... 126

4. Backup and Restore 127

4.1 What is the Backup Controller Function? ............................................. 127

4.2 Backup Data Types .............................................................................. 127

4.3 Backup .................................................................................................. 128

4.4 Restore.................................................................................................. 129

5. Firmware Update 132

5.1 Updating Firmware................................................................................ 132

5.2 Firmware Upgrade Procedure .............................................................. 132

5.3 Controller Recovery .............................................................................. 135

5.4 Firmware Initialization Procedure ......................................................... 136

6. Alarm 138

6.1 Before Controller Firmware Ver.7.1.8.x ................................................ 139

6.1.1 Alarm Configuration .................................................................. 139

6.1.2 How to View the Alarm Information .......................................... 140

6.1.3 How to Edit the Alarm Information ............................................ 141

6.1.4 Alarm Notifying Method ............................................................. 141

6.1.5 How to Cancel the Alarm .......................................................... 142

6.2 Controller Firmware Ver.7.2.0.x or later ............................................... 143

6.2.1 Maintenance .............................................................................. 143

RC700 / RC700-A Rev.25 ix

Table of Contents

6.2.2 How to View the Maintenance Information ............................... 144

6.2.3 How to Edit the Maintenance Information................................. 146

6.2.4 Alarm Notifying Method............................................................. 147

6.2.5 How to Cancel the Alarm .......................................................... 147

7. Maintenance Parts Replacement Procedures 148

7.1 Fan Filter ............................................................................................... 148

7.2 Fan ........................................................................................................ 149

7.2.1 Front Fan ................................................................................... 149

7.2.2 Regenerative Fan (RC700-A only) ........................................... 150

7.3 Battery................................................................................................... 152

7.4 CF (Compact Flash) ............................................................................. 154

7.5 MDB ...................................................................................................... 155

7.6 DMB ...................................................................................................... 158

7.7 DMB-SUB Board................................................................................... 162

7.8 DMB-LED Board ................................................................................... 163

7.8.1 DMB-LED Board (RC700) ........................................................ 163

7.8.2 DMB-LED Board (RC700-A) ..................................................... 164

7.9 DPB ....................................................................................................... 165

7.10 Option Board ....................................................................................... 167

8. Verifying Robot System Operation 168

9. Troubleshooting 169

9.1 Error Code Table .................................................................................. 169

9.2 Cannot Connect the Development PC and the Controller using the USB cable ....................................................................................... 298

9.2.1 Confirmation Using Windows Device Manager ........................ 299

9.2.2 When recognized under “Other devices”

in Windows Device Manager .................................................. 301

10. Maintenance Parts List

11. Option Parts List

302

304

x RC700 / RC700-A Rev.25

Safety

This section contains information for safety of the Robot System.

Safety 1. Safety

1. Safety

Installation and transportation of Manipulators and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

Please read this manual and other related manuals before installing the robot system or before connecting cables. Keep this manual in a handy location for easy access at all times.

2. 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.

RC700 / RC700-A Rev.25 3

Safety 3. Safety Precautions

3. Safety Precautions

Only trained personnel should design and install the robot system.

Trained personnel are defined as those who have taken robot system training class held by the manufacturer, dealer, or local representative company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.

The following items are safety precautions for qualified design or installation personnel:

WARNING



Personnel who design and/or construct the robot system with this product must read the Safety chapter in User’s Guide to understand the safety requirements before designing and/or constructing the robot system. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.



The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals. This product has been designed and manufactured strictly for use in a normal indoor environment.

Using the product in an environment that exceeds the specified environmental conditions may not only shorten the life cycle of the product but may also cause serious safety problems.



The robot system must be used within the installation requirements described in the manuals. Using the robot system outside of the installation requirements may not only shorten the life cycle of the product but also cause serious safety problems.



The interlock of the Safety Door must be functioning when the robot system is operated. Do not operate the system under the condition that the switch cannot be turned ON/OFF. (I.E. the condition where the switch is disabled)

(Example: Tape is put around the switch to hold it closed.) Operating the robot system when the switch is not functioning properly is extremely hazardous and may cause serious safety problems as the Safety Door input cannot fulfill its intended function.



Connect input signal wires for Emergency Stop and Safety Door to the

EMERGENCY connector so that the Emergency Stop switch in the Teach

Pendant connected to the TP port always functions. (Refer to the typical application diagram in Setup & Operation 9.4 Circuit Diagrams.)

4 RC700 / RC700-A Rev.25

Safety 3. Safety Precautions

WARNING

CAUTION

The following items are safety precautions for qualified design or installation personnel: (cont.)



Do not open the cover(s) of the Controller except while maintaining it. Opening the cover(s) of the Controller is extremely hazardous and may result in electric shock even when its main power is OFF because of the high voltage charge inside the Controller.



Make sure that the power to the Controller is turned OFF before connecting or disconnecting any cables. Connecting or disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the Controller.



Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or a contact failure is extremely hazardous and may result in electric shock and/or improper function of the system.



When connecting the plug to fit the outlet in your factory, make sure that it is done by qualified personnel. When connecting the plug, be sure to connect the earth wire of the AC power cable colored green/yellow on the Controller to the earth terminal of the factory power supply. The equipment must be grounded properly at all times to avoid the risk of electric shock. Always use a power plug and receptacle. Never connect the Controller directly to the factory power supply.

(Field wiring)



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 improper function of the robot system and also safety problems.



When using remote I/O, always make sure of the following. Using the robot system under unsatisfactory conditions may cause malfunction of the system and/or safety problems.

- Assign remote functions to inputs/outputs correctly and wire correctly when setting up remote I/O signals.

- Make sure that the functions correspond to the correct input/output signals before turning ON the system.

- When verifying the robot system operation, prepare for failures with initial settings or wiring. If the Manipulator functions unusually by the failures with initial settings or wiring, press the Emergency Stop switch immediately to stop the Manipulator.

RC700 / RC700-A Rev.25 5

Safety 3. Safety Precautions

The following items are safety precautions for qualified operator personnel:

WARNING



6 RC700 / RC700-A Rev.25

Setup & Operation

This section contains information for setup and operation of the Robot Controller.

Motion Controller

Safety 1. Specifications

1. Specifications

1.1 System Example

PLC (Sequencer) Operation Panel

RC700 / RC700-A

Standard

- Standard I/O

- Remote I/O

- Ethernet

- RS-232C

Analog I/O Board

Force Sensor I/F Board

EUROMAP67 Board

USB 2.0 or Ethernet

Option

Expansion I/O Board

Fieldbus

PROFIBUS-DP

DeviceNet

CC-Link

EtherNet/IP

PROFINET

EtherCAT

RS-232C Board

PG Board

* 2

RC700DU

/ RC700DU-A

* 4

* 3

G series

RS series

Windows *1

TP1 (option)

* 5

C4 series

C8 series

C12 series

N2 series

N6 series

EPSON RC+ 7.0 software

Option

Requires preparation by uses

TP2

(option)

* 5

RC700 / RC700-A Rev.25

TP3 (option)

Safety 1. Specifications

*1 EPSON RC+ 7.0 supports the following OS.

Windows 7 Professional Service Pack 1

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 Up to three Drive Units can be connected.

For details, refer to following manual.

Robot Controller / Drive Unit RC700DU / RC700DU-A

*3 Any one of the Manipulators can be controlled.

Available combinations are as follows. (



: connectable)

RC700

RC700-A



C8 C12



*4 Any one of the Teach pendant can be controlled.

TP3 cannot be connected to RC700.

*5 When connecting to RC700-A, a dedicated conversion cable is required.



10 RC700 / RC700-A Rev.25

Safety 1. Specifications

1.2 Standard Specifications

Item

Model

Specification

Robot Controller RC700 / RC700-A

CPU 32 bits Micro Processor

Controllable axes

Robot Manipulator control

Positioning control

Memory capacity

Teaching method

External input/output signals (standard)

6 AC servo motors

Programming language and

Robot control software

Joint Control

Speed Control

Acceleration/ deceleration control

EPSON RC+ 7.0

(a multi-tasking robot language)

Up to 6 joints simultaneous control

Software AC servo control

PTP motion : Programmable in the range of

1 to 100%

CP motion : Programmable (Actual value to be manually entered.)

PTP motion : Programmable in the range of

1 to 100%; Automatic

CP motion : Programmable (Actual value to be manually entered.)

PTP (Point-To-Point control)

CP (Continuous Path control)

Maximum Object Size : 4 MB

Point data area : 1000 points (per file)

Backup variable area : Max. 100 KB (Includes the memory area for the management table.)

Approx. 1000 variables (Depends on the size of array variables.)

Remote

Direct

MDI (Manual Data Input)

Standard I/O

Input : 24

Output : 16

Including 8 inputs,

8 outputs with remote function assigned

Assignment change allowed

R I/O

Input : 2

Output : 2

Standard I/O

(Drive Unit)

Input : 24

Output : 16

Per 1 Drive Unit

Communication interface

(standard)

RS-232C port

Ethernet

1 port

1 channel

RC700 / RC700-A Rev.25 11

Safety 1. Specifications

Options

Item

(Max. 4 slots)

Safety features

Power Source

Expansion I/O

Communication interface

Analog I/O

Maximum Rated Capacity

Insulation Resistance

Rated Ambient Temperature

Rated Relative Humidity

Mass *1

Specification

Input : 24 per board

Output : 16 per board

Addition of

4 boards allowed

RS-232C : 2ch per board

Fieldbus I/O : 1ch per board

PROFIBUS-DP,

DeviceNet, CC-Link,

EtherNet/IP, PROFINET

EtherCAT

Addition of

2 boards allowed *2

Addition of

1 board from the left allowed

Force Sensor I/F: 1ch/port

Controllable joints 4 joints/board

SKU1 Output: 1ch

Addition of

1 board allows

Addition of

4 boards allowed

Addition of

4 board from the left allowed

Addition of

2 boards allowed

Emergency stop switch

Safety door input

Low power mode

Dynamic brake

Motor overload detection

Irregular motor torque (out-of-control

Manipulator) detection

Motor speed error detection

Positioning overflow - servo error - detection

Speed overflow - servo error - detection

CPU irregularity detection

Memory check-sum error detection

Overheat detection at the Motor Driver Module

Relay welding detection

Over-voltage detection

AC power supply voltage reduction detection

Temperature error detection

Fan error detection

200 VAC to 240 VAC

Single phase 50/60 Hz

2.5 kVA (Depending on the Manipulator model)

100 M Ω

5 to 40

or more

20% to 80% (with no condensation)

11 kg

*1 Mass of the unit is indicated on the Controller itself.

Make sure to check the mass before units transfer or relocation and prevent throwing out your back at holding the unit.

Also, make sure to keep your hands, fingers, and feet safe from being caught or serious injury.

*2 When using the Force Sensor I/F board, a maximum of one board/two ports expansion is available for RS-232C board.

12 RC700 / RC700-A Rev.25

1.3 Outer Dimensions

Safety 1. Specifications

[Unit : mm]

(Figure: RC700)

RC700 / RC700-A Rev.25 13

Safety 2. Part Names and Functions

2. Part Names and Functions

RC700

(Left side)

(1)

(2)

(3)

(5)

(9)

(4)

(10) (11) (12) (13)

(6)

(7)

(8)

(22)

(23)

(14) (15) (16)

(17)

(18)(19) (20)

(21)

RC700-A

(Left side)

(1)

(2)

(3)

(7)

(5)

(6)

(9)

(4)

(10) (11) (12) (13)

(8)

(22)

(23)

(14) (15) (16)

(17)

(18)(19) (20)

(21)

(1) Controller Number label

The serial number of the Controller is indicated.

(2) LED

The LED indicates current operation mode

(TEST, TEACH, AUTO, or PROGRAM mode).

For details, refer to

Setup & Operation 2.1 LED and Seven-segment LED

(3) Seven-segment Display

Four-digit seven-segment LED displays the line number and the status of the Controller

(error number, warning number, status of Emergency Stop and Safety Door). For details, refer to

Setup & Operation 2.1 LED and Seven-segment LED

(4) M/C POWER connector

A connector for the Manipulator power source.

Connect the dedicated power cable attached to the Manipulator.

(5) Fan Filter

A protective filter is installed in front of the fan to filter out dust.

Check the condition of the filter regularly and clean it when necessary. A dirty filter may result in malfunction of the robot system due to temperature rise of the Controller.

14 RC700 / RC700-A Rev.25

Safety 2. Part Names and Functions

(6) Option slot

Option boards such as expansion I/O board, Fieldbus I/O board, RS-232C board, PG board, Analog I/O board, and Force Sensor I/F board can be installed. Four slots are available.

For details, refer to

(7) Battery

Setup & Operation 13.Option Slots

A lithium battery for data backup.

(8) POWER switch

Turns ON or OFF the Controller.

(9) Connection Check label

The details of the Manipulator to be connected are recorded on the label as shown in the right. The label indicates the

Manipulator model and Manipulator serial number.

MANIPULATOR

C4-A600S 00001

(10) EMERGENCY connector

This connector is used for input/output from/to Emergency Stop and Safety Door switches. For details, refer to the

(11) TP port

Setup & Operation 9. EMERGENCY

Connects Teach Pendant TP1, TP2, TP3 (Option) and TP bypass plug. Note that the shape of the TP port differs between RC700 and RC700-A.

For details, refer to

Setup & Operation 8. TP Port

NOTE



Do not connect the following to the TP port of RC700/RC700-A. It 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

(12) Standard RS-232C port

This port is used for the RS-232C communication with external devices.

For details, refer to

Setup & Operation

10. Standard RS-232C Port

(13) Encoder Voltage Adjustment Switch

Use this switch to adjust voltage according to length of M/C cable. (adjusted as a factory default)

Wrong setting may result in Robot system malfunction.

Switch

M/C Cable Length

3 m

5 m

10 m

15, 20 m

(14) M/C SIGNAL connector

This connector is used for signals such as the Manipulator’s motor position detector, etc. Connect the Manipulator’s dedicated signal cable.

RC700 / RC700-A Rev.25 15

Safety 2. Part Names and Functions

(15) R-I/O connector

This connector is for the input signals used for the real time I/O function.

(16) RC700: DU OUT connector / RC700-A: OUT connecter

The connector for Drive Unit.

(17) Development PC connection USB port

This port connects the Controller and the Development PC using a USB cable.

Do not connect other devices except the Development PC.

For details, refer to

Setup & Operation 5. Development PC Connection USB Port

(18) Memory port

This port connects the common USB memory for Controller backup function. Do not connect other USB devices except the USB memory.

For details, refer to

Setup & Operation 6. Memory Port

(19) Trigger Switch

This switch is for Controller backup function using the USB memory.

For details, refer to

Setup & Operation 6. Memory Port.

(20) LAN (Ethernet communication) port

This port connects the Controller and the Development PC using an Ethernet cable.

100BASE-TX / 10BASE-T communication are available.

For details, refer to

(21) I/O connector

Setup & Operation 7. LAN (Ethernet communication) Port

This connector is used for input/output device. There are 24 inputs and 16 outputs.

For details, refer to

(22) AC IN

Setup & Operation 11. I/O Connector

The connector for 200VAC power input.

For details, refer to

(23) Signature label

Setup & Operation 3.3.2 AC Power Cable

The serial number of the Controller and other information are shown.

16 RC700 / RC700-A Rev.25

RC700-A-UL

Safety 2. Part Names and Functions

(24)

UL-Compliant Controller (RC700-A-UL):

(24) Lock out feature

This feature is used to lock out the power switch when working with the power off such as maintenance.

A padlock for lockout should be prepared by users.

Applicable shackle diameter: 4.0 to 6.5 mm

Perform lockout using the following procedure.

(1) Remove a fixing screw of lockout bracket A by hand.

Screw

(2) Rotate the lockout bracket A.

(3) Set the screw removed in the step (1) to the lockout bracket B so as not to lose it.

(4) Put a padlock through the holes of the lockout brackets A and B to lock.

Padlock

RC700 / RC700-A Rev.25 17

Safety 2. Part Names and Functions

2.1 LED and Seven-segment LED

2.1.1 LED and Seven-segment LED Display

There are four LEDs and a four-digit seven-segment LED display located on the front panel of the Controller.

LED : LED (TEST, TEACH, AUTO, PROGRAM) turns ON according to the current operation mode (TEST, TEACH, Auto, Program).

Seven-segment : Indicates the line number and Controller status (error number, warning number, Emergency Stop or Safeguard status).

From turning ON the Controller to completing startup

LED : All four LEDs blink.

Seven-segment : All four LED digits turn OFF the lights.

After Controller Startup

LED : LED (TEST, TEACH, AUTO, PROGRAM) turns ON according to the current operation mode (TEST, TEACH, Auto, Program).

Seven-segment : Display changes according to the Controller status.

When several Controller statuses occurred at one time, the status indicated earlier on the following table is displayed. For an example, when both

Emergency Stop and Safeguard statuses occurred at one time, is displayed.

Controller status

Execute Controller status storage function to the USB memory

Complete Controller status storage to USB memory

Failure of Controller status storage to USB memory

Error

Warning

Emergency Stop

Displays repeatedly.

Display of seven-segment

and

Displays (for 2 seconds)

Displays four-digit error number (0.5 sec) and

(0.5 sec) repeatedly.

Displays four-digit warning number (0.5 sec) and

(0.5 sec) repeatedly.

Blink

Safety Door

READY

START

PAUSE

Blink line number

Blink

Blink line number

Blink

*1 For error numbers, refer to

EPSON RC+ 7.0 SPEL+ Language Reference

, or

Online

Help

*2 In initial status, execution line of task number 1 is displayed in three-digit.

Use Ton statement to change the displayed task number.

For details, refer to

EPSON RC+ 7.0 SPEL+ Language Reference

, or

Online Help

RC700 / RC700-A Rev.25

Safety 2. Part Names and Functions

2.1.2 Particular Status Display

When particular status occurs, seven-segment displays the followings.

Seven-segment

Controller status

Controller startup failure *1

Controller startup failure

Controller in Recovery mode

Refer to

Maintenance 4. Backup and Restore

AC power supply drop is detected and software shut down.

Software shut down is specified from the EPSON RC+ 7.0

(software) or the Teach Pendant (option).

*1 When the Initialize Error occurs, reboot the Controller. If the Initialize Error is displayed again after the Controller is rebooted, please contact the supplier of your region.

RC700 / RC700-A Rev.25 19

Safety 2. Part Names and Functions

2.2 Safety Features

The robot control system supports safety features described below. However, it is recommended to strictly follow the proper usage of the robot system by thoroughly reading the attached manuals before using the system. Failure to read and understand the proper usage of the safety functions is highly dangerous.

Among the following safety features, the Emergency Stop Switch and Safety Door Input are particularly important. Make sure that these and other features function properly before operating the robot system.

For details, refer to

Setup & Operation 9. EMERGENCY

Emergency Stop Switch

The EMERGENCY connector on the Controller has expansion Emergency Stop input terminals used for connecting the Emergency Stop switches.

Pressing any Emergency Stop switch can shut off the motor power immediately and the robot system will enter the Emergency Stop condition.

Stop category of Emergency Stop input: Category 0 (refer to Safety Standard IEC60204-1)

Safety Door Input

In order to activate this feature, make sure that the Safety Door Input switch is connected to the EMERGENCY connector at the Controller.

When the safety door is opened, normally the Manipulator immediately stops the current operation, and the status of Manipulator power is operation-prohibited until the safety door is closed and the latched condition is released. In order to execute the Manipulator operation while the safety door is open, you must change the mode selector key switch on the Teach Pendant to the “Teach” mode. Manipulator operation is available only when the enable switch is on. In this case, the Manipulator is operated in low power status.

Stop category of Safety door input: Category 1 (refer to Safety Standard IEC60204-1)

Low Power Mode

The motor power is reduced in this mode.

Executing a power status change instruction will change to the restricted (low power) status regardless of conditions of the safety door or operation mode. The restricted (low power) status ensures the safety of the operator and reduces the possibility of peripheral equipment destruction or damage caused by careless operation.

Dynamic Brake

The dynamic brake circuit includes relays that short the motor armatures. The dynamic brake circuit is activated when there is an Emergency Stop input or when any of the following errors is detected: encoder cable disconnection, motor overload, irregular motor torque, motor speed error, servo error (positioning or speed overflow), irregular CPU, memory check-sum error and overheat condition inside the Motor Driver Module.

Overload Detection

The dynamic brake circuit is activated when the system detects the overload status of the motor.

Irregular Torque (out-of-control Manipulator) Detection

The dynamic brake circuit is activated when irregular motor torque (motor output) is detected.

20 RC700 / RC700-A Rev.25

Safety 2. Part Names and Functions

Motor Speed Error Detection

The dynamic brake circuit is activated when the system detects that the motor is running at incorrect speed.

Positioning Overflow –Servo Error- Detection

The dynamic brake circuit is activated when the system detects that the difference between the Manipulator’s actual position and commanded position exceeds the margin of error allowed.

Speed Overflow –Servo Error- Detection

The dynamic brake circuit is activated when the Manipulator’s actual speed is detected to mark an overflow (the actual speed is outside the nominal range) error.

CPU Irregularity Detection

Irregularity of CPU that controls the motor is detected by the watchdog timer. The system CPU and the motor controlling CPU inside the Controller are also designed to constantly check each other for any discrepancies. If a discrepancy is detected, the dynamic brake circuit is activated.

Memory Check-sum Error Detection

The dynamic brake circuit is activated when a memory check-sum error is detected.

Overheat Detection at the Motor Driver Module

The dynamic brake circuit is activated when the temperature of the power device inside the Motor Driver module is above the nominal limit.

Relay Deposition Detection

The dynamic brake circuit is activated when relay deposition, junction error, or open fault is detected.

Over-Voltage Detection

The dynamic brake circuit is activated when the voltage of the Controller is above the normal limit.

AC Power Supply Voltage Drop Detection

The dynamic brake circuit is activated when the drop of the power supply voltage is detected.

Temperature Anomaly Detection

The temperature anomaly is detected.

Fan Malfunction Detection

Malfunction of the fan rotation speed is detected.

RC700 / RC700-A Rev.25 21

Safety 3. Installation

3. Installation

3.1 Unpacking

TP/OP Bypass Plug

EMERGENCY Port Connector

I/O Connector

Rack-Mount Plate

Power Cable

USB Cable Clamp

3.2 Environmental Requirements

WARNING

1 unit

1 set

1 cable

1 set

■ The Manipulator and the Controller must be used within the environmental conditions described in their manuals. This product has been designed and manufactured strictly for use in a normal indoor environment. Using the product in the environment that exceeds the conditions may not only shorten the life cycle of the product but also cause serious safety problems.

NOTE



3.2.1 Environment

In order to optimize the robot system’s performance for safety, the Controller must be placed in an environment that satisfies the following conditions:

The Controller is not designed for clean-room specification. If it must be installed in a clean room, be sure to install it in a proper enclosure with adequate ventilation and cooling.

Install Controller in a location that allows easy connection / disconnection of cables.

Item

Ambient temperature

5 to 40 ° C

Condition

(with minimal variation)

Ambient relative humidity

20% to 80% (with no condensation)

First transient burst noise 2 kV or less (Power supply wire)

1 kV or les (Signal wire)

Electrostatic noise

Base table

4 kV or less

Use a base table that is at least 100 mm off the floor.

Placing the Controller directly on the floor could allow dust penetration leading to malfunction.

22 RC700 / RC700-A Rev.25

Safety 3. Installation

If the Controller must be used in an environment that does not fulfill the conditions mentioned above, take adequate countermeasures. For example, the Controller may be enclosed in a cabinet with adequate ventilation and cooling.

- Install indoors only.

- Place in a well-ventilated area.

- Keep away from direct sunlight and radiation heat.

- Keep away from dust, oily mist, oil, salinity, metal powder or other contaminants.

- Keep away from water.

- Keep away from shocks or vibrations.

- Keep away from sources of electronic noise

- Keep away from strong electric or magnetic fields.

3.2.2 Installation

Install the Controller on a flat surface such as wall, floor, and Controller box in the direction shown from (A) to (C).

(A) Flat Mounting

(Figure: RC700)

(B) Upright Mounting (C) Rack Mounting

NOTE



* A plate for rack mounting is required.

* The rubber foot needs to be replaced.

For Controller installation to the Controller box or the base table, process screw holes as follows.

RC700 / RC700-A Rev.25 23

Safety 3. Installation

- Ensure the draft around the in/out and prevent the other equipment, walls and install the

Controller by keeping the distance as follows for maintenance.

200 mm

Air Flow of the Controller Fan

50 mm

100 mm

50 mm

200 mm

Excluding the installation side such as base table

- Hot air with higher temperature than the ambient temperature (about 10

C) comes out from the Controller. Make sure that heat sensitive devices are not placed near the outlet.

- Arrange the cables in front of the Controller so that you can pull the Controller forward.

3.2.3 Wall Mounting Option

The control unit has a wall mounting option. This section describes the installation procedure.

Wall mounting with the front side down

(Figure/Picture: RC700)

Wall mounting with the front side up

Controller outer dimensions when using the wall mounting option

Dimensions of the mounting holes for the wall

Included items of the wall mounting option

(Unit: mm)

RC700 / RC700-A Rev.25

Safety 3. Installation

WALL FIXING BRACKET

LED DISPLAY FIXING PLATE

LED DISPLAY PLATE

Screw (M3

6 mm)

Screw (M4 × 8 mm)

2 brackets

1 plate

4 screws

WARNING

NOTE



■ Before installing the Controller with this option, always make sure that the main power of the Controller is turned OFF and that the power plug is disconnected.

Performing any installation procedure while the main power is ON or the high voltage charged area is not discharged completely is extremely hazardous and may result in electric shock and/or cause serious safety problems.

■ When opening the front side, make sure to disconnect the power plug.

Touching the power supply terminal block inside the Controller while the power supply is ON is extremely hazardous and may result in electric shock and/or cause serious safety problems.

Be careful not to damage the cables.

Be careful not to drop any screws into the Controller.

(1) Remove the Top Cover Mounting screws of the

Controller

(Mounting screw

(2) Remove the Top Cover.

(3) Remove the screws fixing the seven segment display.

(Controller front side: Mounting screw

NOTE



(4) Remove the LED/7 segment board from the

Controller.

For RC700-A:

The LED/7 segment board has the ferrite code

(Reference:

Maintenance

7.8.2 DMB-LED Board (RC700-A))

If the LED DISPLAY PLATE is installed with

“wall mounting with the front side up” described in the step (7) below, the cable which passes the ferrite core will be an opposite direction.

Remove the latch of the ferrite core and change the cable direction, and then install the ferrite core again.

RC700 / RC700-A Rev.25 25

Safety 3. Installation

(5) Mount the LED DISPLAY PLATE to the LED/7 segment board. (Mounting screw

NOTE



When installing the LED DISPLAY PLATE, be careful not to drop any screw inside the

Controller.

(6) Mount the LED DISPLAY FIXING PLATE to the Controller. (Mounting screw

(7) Mount the LED DISPLAY PLATE to the LED DISPLAY FIXING PLATE.

(Mounting screw × 2)

There are two installation methods.

Turn the LED DISPLAY PLATE horizontally to the Top Cover in the direction indicated by a red arrow.

Wall mounting with the front side down

(1)

Wall mounting with the front side up

(1)

Front side

(2)

Front side

NOTE



Front side

Be careful not to pull the cable.

(2)

Front side

26 RC700 / RC700-A Rev.25

(8) Remove the plate from the Top Cover.

(Mounting screw

Safety 3. Installation

NOTE



The removed plate is not necessary when using this option.

The plate may be needed when the installation type is changed.

Please keep the plate for future use.

(9) Mount the Top Cover.

(Mounting screw × 6)

(10) Fix the Top Cover to the LED DISPLAY FIXING

PLATE.

(Mounting screw

(11) Mount the WALL FIXING BRACKET.

(Mounting screw × 2 on both sides)

NOTE



The bracket has 6 screw holes.

There are three ways of installation.

(12) Remove the rubber hoot on the Controller’s back side.

(Mounting screw × 4)

NOTE



The removed rubber foot is not necessary when using this option.

The rubber foot may be needed when the installation type is changed.

Please keep the rubber foot for future use.

(13) Mount the Controller to the wall. (Mounting screw

8 M5

8 mm or longer)

Tightening torque 80 to 110 N·cm

RC700 / RC700-A Rev.25 27

Safety 3. Installation

3.3 Power Supply

3.3.1 Specifications

Ensure that the available power meets following specifications.

Voltage

Item

200 to 240 VAC

Specification

(Input voltage should be with in

of the rated voltage.)

Phase

Frequency

Momentary Power

Interrupt

Rated Capacity

Single phase

50/60 Hz

10 ms or less

Peak Current

Leakage Current

Ground Resistance

Maximum : 2.5 kVA

Actual power consumption depends on the model, motion, and load of the Manipulator.

For approximate power consumption of each model, refer to the following values.

C4 : 1.7 kVA

C8 : 2.5 kVA

C12 : 2.5 kVA

N2 : 0.6 kVA

N6 : 2.2 kVA

G1 : 0.5 kVA

G3 : 1.1 kVA

G6 : 1.5 kVA

G10 : 2.4 kVA

G20 : 2.4 kVA

RS3 : 1.2 kVA

RS4 : 1.4 kVA

Refer to the Manipulator manual for rated capacity of the

Manipulator motor.

Rated capacity of X5 varies depending on the Manipulator model. For details, please contact the supplier of your region.

When power is turned ON : approximately 85 A (2 ms.)

When motor is ON : approximately 75 A (2 ms.)

Max. 10 mA

100

Ω

or less

Install an earth leakage circuit breaker in the AC power cable line at 15 A or less rated.

Both should be a two-pole disconnect type. If you install an earth leakage circuit breaker, make sure to use an inverter type that does not operate by induction of a 10 kHz or more leakage current. If you install a circuit breaker, please select one that will handle the above mentioned “peak current”.

The power receptacle shall be installed near the equipment and shall be easily accessible.

28 RC700 / RC700-A Rev.25

Safety 3. Installation

WARNING

3.3.2 AC Power Cable



Make sure that operations are done by a qualified personal.

 Be sure to connect the earth wire (green/yellow) of the AC power cable to the earth terminal of the factory power supply. The equipment must be grounded properly at all times to avoid the risk of electric shock.

 Always use a power plug or a disconnecting device for power connecting cable.

Never connect the Controller directly to the factory power supply.



Select the plug or a disconnecting device which conform safety standards for nations.

Make sure to insert the plug of the AC power cable firmly when connecting to the

Controller.

Item Specification

Ground wire

Cable length

Terminal

Green / Yellow

3 m

M4 round solderless terminal

RC700 / RC700-A Rev.25 29

Safety 3. Installation

3.4 Cable Connection

■ Make sure that the power to the Controller is turned OFF and the power plug is disconnected before connecting or disconnecting any cables. Connecting or disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and malfunction of the Controller.

WARNING

■ Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the system.

CAUTION

■ 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 function of the robot system but also safety problems.

■ Before connecting the connector, make sure that the pins are not bent.

Connecting with the pins bent may damage the connector and result in malfunction of the robot system.

30 RC700 / RC700-A Rev.25

Safety 3. Installation

3.4.1 Typical Cable Connection

Detachable connector

Cable attached at shipping

Cable prepared by users

Controller

(1) AC Power Connector

(2) M/C Power Connector

(3) M/C Signal Connector

(4) EMERGENCY Connector

(5) Development PC Connection Port

(6) USB Memory

(7) LAN (Ethernet Communication)

(8) I/O Connector

(9) TP Connector

(10) Standard RS-232C Connector

Option

(11) R-I/O Connector

200VAC-240VAC

Manipulator

Emergency Stop

Safety Door, etc.

PC for Development

Connect by (5) or (7)

Input/Output Device

Teach

Pendant

FieldBus I/O

Expansion I/O

RS-232C

PG board

Analog I/O EUROMAP67

Force Sensor I/F Board

Input/Output Device

RC700 / RC700-A Rev.25 31

Safety 3. Installation

(1) AC Power Connector

Connector for 200VAC power input to the Controller.

(2) M/C Power cable

The cable with connector on the Controller side.

Connect the Manipulator and the M/C POWER connector on the Controller.

Insert the connectors until you hear a “click”.

(3) M/C Signal cable

The cable with connector on the Controller side.

Connect the Manipulator and the M/C SIGNAL connector on the Controller.

(4) EMERGENCY

The EMERGENCY connector has inputs to connect the Emergency Stop switch and the Safety Door switch. For safety reasons, connect proper switches for these input devices.

For details, refer to the

Setup & Operation 9. EMERGENCY

(5) PC for development

Connect the PC for development.

For details, refer to the

Setup & Operation 5. Development PC Connection USB

Port

(6) USB memory

Connect the USB memory.

For details, refer to the

Setup & Operation 6. Memory Port

(7) LAN (EtherNet Communication)

Connect the EtherNet cable.

For details, refer to the

Setup & Operation 7. LAN (Ethernet Communication) Port

(8) I/O connector

This connector is used for input/output devices of the user.

When there are input/output devices, use this connector.

There are I/O cable (option) and terminal block (option) for the I/O connector.

For details, refer to the

Setup & Operation 11. I/O Connector

(9) TP cable

Connect the option Teach Pendant.

For details, refer to the

Setup & Operation 8.TP Port

(10) Standard RS-232C port

This port is used for the RS-232C communication with external devices.

For details, refer to

Setup & Operation 10. Standard RS-232C Port

(11) R-I/O Connector

This connector is used for connecting with input signals necessary for real time I/O function.

For details, refer to the

Setup & Operation 13. R-I/O Connector

32 RC700 / RC700-A Rev.25

Safety 3. Installation

WARNING

3.4.2 Connecting Manipulator to Controller

Connect the Manipulator to the Controller by using the Power cable and the Signal cable.

■ Make sure that the power to the Controller is turned OFF before connecting or disconnecting any cables. Connecting or disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and malfunction of the Controller.

CAUTION

■ 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 function of the robot system but also safety problems.

■ When connecting the Manipulator to the Controller, make sure that the serial numbers on each equipment match. Improper connection between the

Manipulator and Controller may not only cause improper function of the robot system but also serious safety problems. The connection method varies with the Controller used. For details on the connection, refer to the Controller manual.

NOTE



The configuration

data for the Manipulator and Manipulator model are stored in the Controller.

Therefore the Controller should be connected to the Manipulator whose serial number is specified in the Connection Check label attached on the front of the Controller.

The Manipulator’s serial number is indicated on the signature label on the back of the

Manipulator.

RC700 / RC700-A Rev.25 33

Safety 3. Installation

3.5 Noise Countermeasures

To minimize electrical noise conditions, the following items must be observed in the system’s cable wiring:

To minimize electrical noise condition, be sure of followings for wiring.

- The earth wire of the power supply should be grounded. (Ground resistance: 100

Ω

or less) It is important to ground the frame of Controller not only for prevention from electric shock, but also for reducing the influence of electric noise around the Controller.

Therefore, be sure to connect the earth wire (yellow/green) of the Controller’s power cable to the ground terminal of the factory power supply. For details about the plug and AC power cable, refer to the

Setup & Operation 3.3 Power Supply

- Do not tap power from a power line that connects to any equipment which may cause noise.

- When you tap power for the Controller and the single-phase AC motor from the same power line, change the phase of one or the other. Ensure that they will not be the same phase.

- Use a twisted pair motor power line.

- Do not run AC power lines and DC power lines in the same wiring duct, and separate them as far as possible. For example, separate the AC motor

AC Line duct power line and the Controller power line as far as possible from the sensor or valve I/O lines; and do not bundle both sets of wiring with the same cable tie. If more than one duct/cable must cross each other, they should cross perpendicularly. The preferable example is shown in the right figure.

As far as possible

DC line duct

- Wire as short as possible to the I/O connector and EMERGENCY connector. Use a shielded cable and clamp the shield to the attached connector interior. Make sure to keep away from the peripheral noise source as far as possible.

- Make sure that the induction elements used to connect to the Controller’s I/O (such as relays and solenoid valves) are noise suppression parts. If an induction element without protection against noise is used, make sure to connect a noise suppression part such as a diode located at the induction element in parallel with it. In selecting noise suppression parts, make sure that they can handle the voltage and current incurred by the induction load.

- To start and change revolutions of the conveyer’s (or the like’s) AC motor (ex: an induction motor or three-phase induction motor) regularly or abruptly, make sure to install a spark suppressor between the wires. The spark suppressor is more effective when placed closer to the motor.

- As they are easily influenced by noise, keep cable such as USB, Ethernet, RS-232C, or fieldbus away from peripheral noise sources.

34 RC700 / RC700-A Rev.25

Safety 4. Operation Mode (TEACH/AUTO/TEST)

4. Operation Mode (TEACH/AUTO/TEST)

4.1 Overview

The Robot system has three operation modes.

TEACH mode This mode enables point data teaching and checking close to the Robot using the Teach Pendant.

In this mode the Robot operates in Low power status.

AUTO mode This mode enables automatic operation (program execution) of the

Robot system for the manufacturing operation, and also programming, debug, adjustment, and maintenance of the Robot system.

This mode cannot operate the Robots or run programs with the Safety

Door open.

TEST mode

(T1)

This mode enables program verification while the Enable Switch is held down and the safeguard is open.

This is a low speed program verification function (T1: manual deceleration mode) which is defined in Safety Standards.

This mode can operate the specified Function with multi-task / singletask, multi-Manipulator / single-Manipulator at low speed.

(T2)

RC700-A option

TP3 only

This mode enables program verification while the Enable Switch is held down and the safeguard (including the safety door) is open.

Unlike the TEST/T1, the program verification in a high speed is available in this mode.

NOTE



In this mode, the specified Function can be executed with multi-task / single-task, multi-Manipulator / single-Manipulator at high speed.

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

RC700 / RC700-A Rev.25 35

Safety 4. Operation Mode (TEACH/AUTO/TEST)

4.2 Switch Operation Mode

Change the operation mode using the mode selector key switch on the Teach Pendant.

To change to TEST operation mode:

TP1, TP2 : Push the function key in TEACH mode.

TP3 : Tap the [Test] tab on the touch panel in TEACH mode.

TEACH mode Turn the mode selector key switch to “TEACH” for TEACH mode.

Pauses the executing program when operation mode is switched to

AUTO mode

TEACH mode.

The operating Robot stops by Quick Pause.

Turn the mode selector key switch to “AUTO” and change the latch release input signal to ON position for AUTO mode.

TEST mode

TP1, TP2 Turn the mode selector key switch to “TEACH” for “TEACH” mode.

Push <F1> key-[Test Mode] in [Jog & Teach] dialog of TEACH mode. The mode will be changed to TEST.

TP3 T1 Turn the mode selector key switch to “TEACH/T1” for

“TEACH” mode. Tap the [Test] tab to change the mode to

T1.

T2 Turn the mode selector key switch to “TEACH/T2” for

“TEACH” mode. Tap the [Test] tab to change the mode to

T2.

NOTE



NOTE



The TEACH mode status is latched by software.

To switch the mode from TEACH to AUTO, release the latched condition using the latch release input.

For details on how to release latch, refer to

Setup & Operation

9.1 Safety Door Switch and

Latch Release Switch

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

36 RC700 / RC700-A Rev.25

Safety 4. Operation Mode (TEACH/AUTO/TEST)

4.3 Program Mode (AUTO)

4.3.1 What is Program Mode (AUTO)?

Program mode is for programming, debug, adjustment, and maintenance of the Robot system.

Follow the procedures below to switch to the Program mode.

4.3.2 Setup from EPSON RC+

Switch the mode to Program mode from the EPSON RC+.

(1) Select EPSON RC+ menu-[Setup]-[System Configuration] to display the [System

Configuration] dialog.

(5)

(2)

(4)

(3)

(2) Select [Startup]-[Start mode].

(3) Select <Program> button.

(4) Click the <Apply> button.

(5) Click the <Close> button.

RC700 / RC700-A Rev.25 37

Safety 4. Operation Mode (TEACH/AUTO/TEST)

4.4 Auto Mode (AUTO)

NOTE



4.4.1 What is Auto mode (AUTO)?

Auto mode (AUTO) is for automatic operation of the Robot system.

Procedures for switching to the Auto mode (AUTO) are the followings.

A : Set the start mode of the EPSON RC+ to “Auto” and start the EPSON RC+.

(Refer to

Setup & Operation 4.4.2 Setup from EPSON RC+.

)

B : Offline the EPSON RC+.

Execute and stop the program from the control device specified by the EPSON RC+.

(Refer to

Setup & Operation 4.4.3 Setup Control Device

4.4.2 Setup from EPSON RC+

Switch the mode to Auto mode (AUTO) from the EPSON RC+.

(1) Select EPSON RC+ menu-[Setup]-[System Configuration] to display the [System

Configuration] dialog.

(5)

(2)

(4)

(3)

(2) Select [Startup]-[Start Mode].

(3) Select <Auto> button.

(4) Click the <Apply> button.

(5) Click the <Close> button.

38 RC700 / RC700-A Rev.25

Safety 4. Operation Mode (TEACH/AUTO/TEST)

4.4.3 Setup from Control Device

Set the control device from EPSON RC+.

(1) Select EPSON RC+ menu-[Setup]-[System Configuration] to display the [System

Configuration] dialog.

(5)

(4)

(2)

(3)

(2) Select [Controller]-[Configuration].

(3) Select [Setup Controller]-[Control Device] to select the control device from the following two types.

- PC

- Remote (I/O)

(4) Click the <Apply> button.

(5) Click the <Close> button.

RC700 / RC700-A Rev.25 39

Setup & Operation 5. Development PC Connection USB Port

5. Development PC Connection USB Port

Development PC connection USB port (USB B series connector)

NOTE



Development PC connection USB Port

(Figure: RC700)

For other details of development PC and Controller connection, refer to

EPSON RC+ 7.0

User’s Guide 5.12.1 PC to Controller Communications Command

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.

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.

5.1 About Development PC Connection USB Port

The development PC connection port supports the following USB types.

- USB2.0 HighSpeed/FullSpeed (Speed auto selection, or FullSpeed mode)

- USB1.1 FullSpeed

Interface Standard: USB specification Ver.2.0 compliant

(USB Ver.1.1 upward compatible)

Connect the Controller and development PC by a USB cable to develop the robot system or set the Controller configuration with the EPSON RC+ 7.0 software installed in the development PC.

Development PC connection port supports hot plug feature. Cables insert and remove from the development PC and the Controller is available when the power is ON.

However, stop occurs when USB cable is removed from the Controller or the development

PC during connection.

5.2 Precaution

When connecting the development PC and the Controller, make sure of the following:

Connect the development PC and the Controller with a 5 m or less USB cable.

Do not use the USB hub or extension cable.

Make sure that no other devices except the development PC are used for development

PC connection port.

Use a PC and USB cable that supports USB2.0 HighSpeed mode to operate in USB2.0

HighSpeed mode.

Do not pull or bend the cable strongly.

Do not allow unnecessary strain on the cable.

40 RC700 / RC700-A Rev.25

Setup & Operation 5. Development PC Connection USB Port

When the development PC and the Controller are connected, do not insert or remove other USB devices from the development PC. Connection with the Controller may be lost.

5.3 PC and Controller Connection Using

Development PC Connection USB Port

Connection of the development PC and the Controller is indicated.

(1) Make sure that software EPSON RC+ 7.0 is installed to the Controller connected to the development PC.

(Install the software when it is not installed.)

(2) Connect the development PC and the Controller using a USB cable.

(3) Turn ON the Controller.

(4) Start EPSON RC+ 7.0.

(5) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to display the [PC to Controller Communications] dialog.

(6) Select “No.1 USB” and click the <Connect> button.

(7) After the development PC and the Controller connection has completed, “Connected” is displayed at [Connection status]. Make sure that “Connected” is displayed and click the <Close> button to close the [PC to Controller Communications] dialog.

The connection between the development PC and the Controller is completed. Now the robot system can be used from EPSON RC+ 7.0.

RC700 / RC700-A Rev.25 41

Setup & Operation 5. Development PC Connection USB Port

5.4 Disconnection of Development PC and Controller

This section describes how to disconnect the development PC and the Controller communication.

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to display the [PC to Controller Communications] dialog.

(2) Click the <Disconnect> button.

Communication between the Controller and the development PC is disconnected and the USB cable can be removed.

NOTE



If the USB cable is removed when the Controller and the development PC are connected, the Robot will stop. Be sure to click the <Disconnect> button in the [PC to Controller

Communications] dialog before USB cable is removed.

5.5 How to Fix USB Cable

This section describes how to fix USB cables.

Development PC connection USB Port

(1) Unscrew the screw below the USB port.

(2) Secure the fixing clamp (attached) using the screw in Step (1).

(Figure: RC700)

(3) Connect the USB cable to the USB port.

(4) Get an attached cable tie through a hole of the fixing clamp in Step (2) and fix the USB cable.

(5) Adjust the length of the cable tie by cutting it.

42 RC700 / RC700-A Rev.25

Setup & Operation 6. Memory Port

6. Memory Port

Connect a commercial USB memory to the Controller memory port to use the Controller backup function to the USB memory.

6.1 What is Backup Controller Function?

This function saves various kinds of Controller data to the USB memory with one push.

Data saved in the USB memory is loaded to EPSON RC+ 7.0 to get the status of the

Controller and the program simply and accurately.

The saved data can also be used for restoring the Controller.

6.2 Before Using Backup Controller Function

CAUTION

6.2.1 Precautions

■

Backup Controller function is available at any time and in any Controller status after starting the Controller.

However, operations form the console including stop and pause are not available while executing this function.

Also, this function influences the robot cycle time and the communication with

EPSON RC+ 7.0. Other than only when it is necessary, do not execute this function when operating the robot.

Make sure that the USB port is used only for USB memory even though the port on the

Controller is a universal USB port.

Insert the USB memory directly into the Controller memory port. Connection with cables or hubs between the Controller and the USB memory is not assured.

Insert and remove the USB memory slowly and surely.

Do not edit the saved files by the editor. Operation of the robot system after data restoration to the Controller is not assured.

6.2.2 Adoptable USB Memory

Use USB memory that meets following conditions.

USB2.0 supported

Without security function

USB memory with password input function cannot be used.

No installation of a driver or software is necessary for Windows 7, Windows 8, or

Windows 10.

(For supported operating systems for the EPSON RC+ 7.0, refer to

Setup & Operation 1.1

System Example

RC700 / RC700-A Rev.25 43

Setup & Operation 6. Memory Port

CAUTION

6.3 Backup Controller Function

6.3.1 Backup Controller with Trigger Button

■

Controller status storage function is available at any time and in any Controller status after starting the Controller.

However, operations form the console including stop and pause are not available when executing this function.

Also, this function influences the robot cycle time and the communication with the

EPSON RC+ 7.0. Do not execute this function while operating the robot except when it is necessary.

Use the following procedure to backup the Controller settings to USB memory.

(1) Insert the USB memory into the memory port.

(2) Wait approximately 10 seconds for USB memory recognition.

(3) Press the trigger button on the Controller.

The seven-segment displays and repeatedly during the data transfer. Wait until the display returns back to the former display. (Transfer time differs depending on the amount of data, such as the project size.)

is displayed on the seven-segment for (4) When the storage has been completed, two seconds.

When the storage has failed, seconds.

is displayed on the seven-segment for two

(5) Remove the USB memory from the Controller.

NOTE



USB memory with LED is recommended to check the status changes in procedure (2).

When storage is executed during Motor ON status, it may fail to store the status. Use another USB memory or execute the storage during Motor OFF status.

6.3.2 Load Data with EPSON RC+ 7.0

The procedure to read the data stored in the USB memory by EPSON RC+ 7.0 and display the Controller status is described in the following manual.

EPSON RC+ 7.0 User’s Guide 5.11.8 [Controller] Command (Tools Menu)

6.3.3 Transfer with E-mail

Follow this procedure to transfer the data by e-mail that was saved to the USB memory.

(1) Insert the USB memory to a PC that supports sending of e-mail.

(2) Make sure that the USB memory has following folders.

B_Controller type_serial number_backup date

→ Example: B_RC700_12345_2013-10-29-092951

(3) Compress the folders checked in Step (2), then send them by e-mail.

44 RC700 / RC700-A Rev.25

NOTE



Setup & Operation 6. Memory Port

Delete files that do not relate to the project before transfer.

This function is used to send the data to the system director and EPSON from the end users for problem analysis.

6.4 Details of Data

The following data files are created by the Controller backup function.

File Name

Backup.txt Information file for restore

Outline

File with information for Controller restore.

CurrentMnp01.PRM Robot parameter Saves information such as ToolSet.

CurrentStatus.txt Save status Saves program and I/O status.

ErrorHistory.csv

InitFileSrc.txt

MCSys01.MCD

SrcmcStat.txt

ProjectName.obj

Error history

Initial setting

Robot setting

Hardware information

OBJ file

Saves various settings of the Controller.

Saves information of connected robot.

Saves installation information of hardware.

Result of project build.

Prg file is not included.

Saves values of Global Preserve variables. GlobalPreserves.dat Global Preserve variables

MCSRAM.bin

MCSYSTEMIO.bin

MCTABLE.bin

MDATA.bin

Inner information of Robot operation

SERVOSRAM.bin

VXDWORK.bin

WorkQueues.dat

All files related to project except

ProjectName.obj *1

WorkQue information

Project

Saves information of Queues information of the WorkQue.

Select EPSON RC+ 7.0 menu-[Setup]-

[System Configuration] to display the

[System Configuration] dialog.

When [Include project files when status exported] check box is checked in

[Controller]-[Preferences], the project file is stored.

Includes program files.

*1 Storage of “All files related to project except ProjectName.obj” can be specified by a setting.

RC700 / RC700-A Rev.25 45

Setup & Operation 7. LAN (Ethernet Communication) Port

7. LAN (Ethernet Communication) Port

NOTE



- Refer to

EPSON RC+ 7.0 User’s Guide 5.12.1 PC to Controller Communications

Command (Setup Menu)

for other details for the development PC and Controller connection.

- For Ethernet (TCP/IP) communication with robot application software, refer to

EPSON

RC+ 7.0 Online Help

User’s Guide 14. TCP/IP Communications

7.1 About the LAN (Ethernet Communication) Port

Ethernet communication port supports 100BASE-TX / 10 BASE-T.

This port is used for two different purposes.

Connection with development PC

LAN (Ethernet communication) port is used for connection of the Controller and the development PC.

Equivalent operation is available to connect between the Controller and the development

PC with the development PC connection port.

(Refer to

Setup & Operation 5. Development PC Connection USB Port

)

Connection with other Controller or PC

The LAN (Ethernet communication) port can be used as an Ethernet (TCP/IP) communication port to communicate between multiple controllers from robot application software.



RC700: DUOUT connector / RC700-A: OUT connector is not a LAN (Ethernet communication) port. Do not connect a cable.

CAUTION

RC700: DUOUT connector

RC700-A: OUT connector

(Figure: RC700)

7.2 IP Address

Set the proper IP address or subnet mask depending on the Controller and development PC configuration to use the LAN port.

Do not input a random value for the IP address of the network configured TCP/IP. This is the only address that specifies the computer using an Internet connection.

The IP address is assigned from the company or organization that has control of IP address.

46 RC700 / RC700-A Rev.25

Setup & Operation 7. LAN (Ethernet Communication) Port

Use an address from the following Internet private environment such as P2P or line. Make sure that the address is not redundantly assigned inside the closed network.

Private Address List

10.0.0.1 to 10.255.255.254

172.16.0.1 to 172.31.255.254

192.168.0.1 to 192.168.255.254

The following is the configuration of the Controller at delivery.

IP Address : 192.168.0.1

IP Mask : 255.255.255.0

IP Gateway : 0.0.0.0

Set separate IP addresses in the same subnet for PC and the Controller.

PC : 192.168.0.10

Controller : 192.168.0.1

7.3 Changing Controller IP Address

This section describes the procedure to change the Controller IP address.

(1) Connect between the development PC and the Controller using the USB cable by referring to

Setup & Operation

5. Development PC Connection USB Port

(2) Select the EPSON RC+ 7.0 menu-[Setup]-[Controller] to display the following dialog.

(3) Select [Controller]-[Configuration].

(4) Enter the proper IP address and subnet mask and click the <Apply> button.

(5) Click the <Close> button. The Controller reboots automatically.

IP address configuration is completed and the Controller reboot dialog disappears.

RC700 / RC700-A Rev.25 47

Setup & Operation 7. LAN (Ethernet Communication) Port

7.4 Connection of Development PC and Controller with

Ethernet

Connection between the development PC and the Controller is shown below.

(1) Connect the development PC and the Controller using the Ethernet cable.

(2) Turn ON the Controller.

(3) Start EPSON RC+ 7.0.

(4) Display the [PC to Controller Communication] dialog from [Setup] in EPSON RC+ 7.0 menu.

(5) Click the <Add> button.

(6) Connection “No.2” is added. Set the following and click the <Apply> button.

Name : Valid value to identify the Controller to connect

IP Address : IP address for Controller to connect

(7) [Name] and [IP Address] specified in procedure (6) is displayed.

RC700 / RC700-A Rev.25

Setup & Operation 7. LAN (Ethernet Communication) Port

(8) Make sure that “No.2” is selected, and click the <Connect> button.

(9) After the development PC and Controller connection is completed, “Connected” is displayed in the [Connection status:]. Make sure that “Connected” is displayed and click the <Close> button to close the [PC to Controller Communications] dialog.

Connection between the development PC and the Controller is complete. Now the robot system can be used via an Ethernet connection from EPSON RC+ 7.0.

7.5 Disconnection of Development PC and Controller with Ethernet

Disconnection of the development PC and the Controller is shown below.

NOTE



(1) Display [PC-Controller Connection] dialog from [Setup] in EPSON RC+ 7.0 menu.

(2) Click the <Disconnect> button.

Communication between the Controller and the development PC is disconnected and the Ethernet cable can be removed.

If the Ethernet cable is removed when the Controller and the development PC is connected,

Emergency Stop occurs and the Robot stops. Be sure to click the <Disconnect> button in the [PC to Controller Communications] dialog before the Ethernet cable is removed.

RC700 / RC700-A Rev.25 49

Setup & Operation 8. TP Port

8. TP Port

8.1 What is the TP Port?

The TP port connects the Teach Pendant TP1, TP2, and TP3

to the Controller.

When connecting TP1 and TP2 to RC700-A, the RC700-A conversion cable is necessary.

If you need the conversion cable, please contact the supplier of your region.

* RC700-A TP Exchange Cable : R12NZ900L6

TP3 cannot be connected to RC700.

RC700

RC700-A

NOTE



When nothing is connected to the TP port, Emergency Stop status occurs in the Controller.

When the Teach Pendant is not connected, connect the TP bypass plug.

Do not connect the following devices to the TP port of / RC700-A. Connecting these devices 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

50 RC700 / RC700-A Rev.25

NOTE



Setup & Operation 8. TP Port

8.2 Teach Pendant Connection

A cable for connection to the RC700 / RC700-A Controller is attached to the Teach Pendant.

Connect this cable connector to the TP/OP port.

Communication is set automatically. Enable the Teach Pendant by one of the following procedures.

Insert the Teach Pendant connector to the Controller and turn ON the Controller.

Insert the Teach Pendant connector while the Controller is turned ON.

Teach Pendant connection and disconnection from the Controller are allowed when the

Controller power is ON.

When the Teach Pendant connector is removed from the Controller with the mode selector key switch of the Teach Pendant in the “Teach” position, the operation mode will remain in the TEACH mode. The operation mode cannot be switched to AUTO mode. Be sure to remove the Teach Pendant after switching the operation mode to “Auto” mode.

For details, refer to the following manuals:

Robot Controller RC700/RC90 Option Teach Pendant TP1

Robot Controller RC700/RC90 Option Teach Pendant TP2

Robot Controller RC700-A Option Teach Pendant TP3

RC700 / RC700-A Rev.25 51

Setup & Operation 9. EMERGENCY

9. EMERGENCY

NOTE



CAUTION

The details of safety requirements for this section are described in the

User’s Guide

2. Safety

. Please refer to them to keep the robot system safe.

■

Make sure that the emergency stop and safety door work properly before using the system, not only when setting up the system, but also when the use environment is changed.

Connect a safeguard switch or Emergency Stop switch to the Controller EMERGENCY connector for safety.

When nothing is connected to the EMERGENCY connector, the robot system does not operate normally.

CAUTION

■

Before connecting the connector, make sure that the pins are not bent.

Connecting with the pins bent may damage the connector and result in malfunction of the robot system.

EMERGENCY Connector

(Figure: RC700)

9.1 Safety Door Switch and Latch Release Switch

The EMERGENCY connector has input terminals for the

Safety Door

switch and the

Emergency Stop switch. Be sure to use these input terminals to keep the system safe.

Connector

EMERGENCY connector

(Controller side)

Standard

D-sub 25 male pin

Screwlock #4 - 40

* The E-STOP BOX,

EMERGENCY connector cable, terminal block, and

EMERGENCY connector kit are offered as options.

52 RC700 / RC700-A Rev.25

WARNING

Setup & Operation 9. EMERGENCY

9.1.1 Safety Door Switch

■

The interlock of the Safety Door must be functioning when the robot system is operated. Do not operate the system under the condition that the switch cannot be turned ON/OFF (e.g. The tape is put around the switch.). Operating the robot system when the switch is not functioning properly is extremely hazardous and may cause serious safety problems as the Safety Door input cannot fulfill its intended function.

In order to maintain a safe working zone, a safeguard must be erected around the

Manipulator. The safeguard must have an interlock switch at the entrance to the working zone. The Safety Door that is described in this manual is one of the safeguards and an interlock of the Safety Door is called a Safety Door switch. Connect the Safety Door switch to the Safety Door input terminal on the EMERGENCY connector.

The Safety Door switch has safety features such as temporary hold-up of the program or the operation-prohibited status that are activated whenever the Safety Door is opened.

Observe the followings in designing the Safety Door switch and the Safety Door.

- For the Safety Door switch, select a switch that opens as the Safety Door opens, and not by the spring of the switch itself.

- The signal from the Safety Door (Safety Door input) is designed to input to two redundant signals. If the signals at the two inputs differ by two seconds or more, the system recognizes it to be a critical error. Therefore, make sure that the Safety Door switch has two separate redundant circuits and that each connects to the specified pins at the EMERGENCY connector on the Controller.

- The Safety Door must be designed and installed so that it does not close accidentally.

NOTE



9.1.2 Latch Release Switch

The Controller software latches these conditions:

- The safety door is open.

- The operation mode is set to “TEACH”.

The EMERGENCY connector has an input terminal for a latch release switch that cancels the latched conditions.

Open : The latch release switch latches conditions that the safety door is open or the operation mode is “TEACH”.

Closed : The latch release switch releases the latched conditions.

When the latched TEACH mode is released while the safety door is open, the status of

Manipulator power is operation-prohibited because the safety door is open at that time.

To execute a Manipulator operation, close the safety door again, and then close the latch release input.

RC700 / RC700-A Rev.25 53

Setup & Operation 9. EMERGENCY

9.1.3 Checking Latch Release Switch Operation

After connecting the safety door switch and latch release switch to the EMERGENCY connector, be sure to check the switch operation for safety by following the procedures described below before operating the Manipulator.

(1) Turn ON the Controller while the safety door is open in order to boot the Controller software.

(2) Make sure that “Safety” is displayed on the main window status bar.

(3) Close the safety door, and turn ON the switch connecting to the latch release input.

Make sure that the “Safety” is dimmed on the status bar.

NOTE



The information that the safety door is open can be latched by software based on the latch release input condition. To cancel the condition, close the safety door, and then close the safety door latch release input.

Open : The latch release switch latches the condition that the safety door is open.

Closed : The latch release switch does not latch the condition that the safety door is open.

The latch release input also functions to acknowledge the change of to TEACH mode.

In order to change the latched condition of TEACH mode, turn the mode selector key switch on the Teach Pendant to “Auto”. Then, close the latch release input.

54 RC700 / RC700-A Rev.25

NOTE



Setup & Operation 9. EMERGENCY

9.2 Emergency Stop Switch Connection

9.2.1 Emergency Stop Switch

If it is desired to add an external Emergency Stop switch(es) in addition to the Emergency

Stop on the Teach Pendant and Operator Panel, be sure to connect such Emergency Stop switch(es) to the Emergency Stop input terminal on the EMERGENCY connector.

The Emergency Stop switch connected must comply with the related safety standards (such as

IEC60947-5-5

) and the following:

- It must be a push button switch that is “normally closed”.

- A button that does not automatically return or resume.

- The button must be mushroom-shaped and red.

- The button must have a double contact that is “normally closed”.

The signal from the Emergency Stop switch is designed to use two redundant circuits.

If the signals at the two circuits differ by two seconds or more, the system recognizes it as a critical error. Therefore, make sure that the Emergency Stop switch has double contacts and that each circuit connects to the specified pins on the EMERGENCY connector at the Controller. Refer to the

Setup & Operation 9.4 Circuit Diagrams

9.2.2 Checking Emergency Stop Switch Operation

Once the Emergency Stop switch is connected to the EMERGENCY connector, continue the following procedure to make sure that the switch functions properly. For the safety of the operator, the Manipulator must not be powered ON until the following test is completed.

(1) Turn ON the Controller to boot the Controller software while pressing the Emergency

Stop switch.

(2) Make sure that E-STOP LED of the Controller is lighting.

(3) Make sure that “EStop” is displayed on the status bar on the main window.

(4) Release the Emergency Stop Switch.

(5) Execute the RESET command.

(6) Make sure that E-STOP LED is turned OFF and that “EStop” is dimmed on the main window status bar.

9.2.3 Recovery from Emergency Stop

To recover from the emergency stop condition, follow the procedure of safety check as required by the system.

After safety check, the operations below are required to recover from the emergency stop condition.

Release the Emergency Stop Switch

Execute the RESET command

RC700 / RC700-A Rev.25 55

Setup & Operation 9. EMERGENCY

9.3 Pin Assignments

The EMERGENCY connector pin assignments are as follows:

Pin No. Signal Function Pin No. Signal Function

1 ESW11 Emergency Stop switch contact (1) *3 14 ESW21

2 ESW12 Emergency Stop switch contact (1) *3 15 ESW22

3 ESTOP1+ Emergency Stop circuit 1 (+)

ESTOP1 − Emergency Stop circuit 1 (

)

5 Not Used

6 Not Used

7 SD11

8 SD12

9 24V

Safety Door input (1) *2

Safety Door input (1)

+24V output

16 ESTOP2+

17 ESTOP2

20 SD21

21 SD22

22 24V

−

Emergency Stop switch contact (2)

Emergency Stop circuit 2 (+)

Emergency Stop circuit 2 (

18 SDLATCH1 Safety Door Latch Release

19 SDLATCH2 Safety Door Latch Release

Safety Door input (2) *2

+24V output

)

10 24V +24V output

11 24VGND +24V GND output

12 24VGND +24V GND output

13 Not Used

23 24V +24V output

24 24VGND +24V GND output

25 24VGND +24V GND output

*1 Do not connect anything to these pins.

*2 A critical error occurs if the input values from the Safety Door 1 and Safety Door 2 are different for two or more seconds. They must be connected to the same switch with two sets of contacts.

*3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and Emergency Stop switch contact 2 are different for two or more seconds. They must be connected the same switch with two sets of contacts.

*4 Do not apply reverse voltage to the Emergency Stop circuit.

Emergency Stop switch output rated load

Emergency Stop rated input voltage range

Emergency Stop rated input current

Safety Door rated input voltage range

Safety Door rated input current

Latch Release rated input voltage range

Latch Release rated input current

+30 V 0.3 A or under

+24 V ± 10%

37.5 mA

10% /+24 V input

+24 V ± 10%

10 mA/+24 V input

+24 V ± 10%

10 mA/+24 V input

1-2, 14-15 pin

3-4, 16-17 pin

7-8, 20-21 pin

18-19 pin

NOTE



The total electrical resistance of the Emergency Stop switches and their circuit should be 1

Ω or less.

 The 24 V output is for emergency stop. Do not use it for other purposes. Doing so may result in system malfunction.

CAUTION

 Do not apply reverse voltage to the Emergency Stop circuit. Doing so may result in system malfunction.

56 RC700 / RC700-A Rev.25

Setup & Operation 9. EMERGENCY

9.4 Circuit Diagrams

Emergency

Stop switch of an Operation

Unit (TP)

9.4.1 Example 1: External emergency stop switch typical application

Controller

+24V

External Emergency

Stop switches

+5V

ESTOP1+ 3

ESTOP2+

Main Circuit

Control

Be careful of the direction of voltage application

Motor Driver

−

AC Input

NOTE:+24V GND

+ 5V GND

RC700 / RC700-A Rev.25

Emergency

Stop detection

ESTOP1

−

ESTOP2 − 17

Safety Door input 1

Safety Door input 2

External

+24V

Latch release input

Latch release input Close :Latch off

Open :Latch on

External + 24V

GND

Setup & Operation 9. EMERGENCY

Emergency

Stop switch of an Operation

Unit (TP)

9.4.2 Example 2: External safety relay typical application

Controller

+24V

External +24V

Fuse

+5V

External

+24V

GND

External

+24V

Motor Driver

AC Input

Main Circuit

Control

+ −

Emergency

Stop detection

External safety relay

(The above diagram is simplified for representation.)

Safety Door input 1

* For the protection of the emergency stop circuit, the fuse’s capacity should be as follows:

- Meets the capacity of the external safety relay

- 0.4A or less

External

+24V

GND

External

+24V

Safety Door input 2

Latch Release input

NOTE:+24V GND

+ 5V GND

Latch release input Close :Latch off

Open :Latch on

External + 24V

GND

58 RC700 / RC700-A Rev.25

Setup & Operation 10. Standard RS-232C Port

10. Standard RS-232C Port

10.1 RS-232C Port

A standard RS-232C port is available with the Controller.

Mount the RS-232C board(s) in the option slot to communicate with external equipment with two or more RS-232C ports.

For the details of the expansion port, refer to

Setup & Operation 14.4 RS-232C Board

Port numbers are assigned as follows.

Port No.

Supported hardware

Standard RS-232C connector

First expansion RS-232C board CH1

First expansion RS-232C board CH2

Second expansion RS-232C board CH1

Second expansion RS-232C board CH2

10.2 Confirmation with EPSON RC+ 7.0 (RS-232C)

When an RS-232C board is mounted in as option unit, the Controller software automatically identifies the RS-232C board. Therefore, no software configuration is needed. Correct identification can be confirmed from EPSON RC+ 7.0.

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the

[System Configuration] dialog.

(2)

Select the [RS232]-[CU].

RC700 / RC700-A Rev.25 59

Setup & Operation 10. Standard RS-232C Port

10.3 RS-232C Software Communication Setup (RS-232C)

Available communication settings are as follows.

Item

Baud Rates

Specification

110, 300, 600, 1200, 2400, 4800, 9600,

14400, 19200, 38400, 57600, 115200

Data bit length

Stop bit length

Parity

Terminator

7, 8

1, 2

Odd, even, NA

CR, LF, CRLF

Refer to

EPSON RC+ 7.0 Online Help

Users Guide – 13. RS-232C Communications

for

RS-232C communication from the Robot application.

10.4 Communication Cable (RS-232C)

Prepare a communication cable as described in this section.

Connector

RS-232C

Connector

(Controller side)

Standard

D-sub 9 male pin

Screwlock #4 - 40

NOTE



Use twisted pair cable for shielded wire.

Clamp the shield to the hood for noise prevention.

Pin assign of the RS-232C connector is as follows.

Pin No

Signal

DCD

RXD

TXD

DTR

GND

DSR

RTS

CTS

Send data

Function

Data carrier detect

Receive data

Terminal ready

Signal ground

Data set ready

Request to send

Clear to send

Ring indicator

Signal Direction

Input

Output

Input

Output

Input

60 RC700 / RC700-A Rev.25

Setup & Operation 11. I/O Connector

11. I/O Connector

The I/O connector is for connecting your input/output equipment to the system.

Control Unit

Drive Unit 1

Drive Unit 2

Drive Unit 3

Input

Output

Input

Output

Input

Output

Input

Output

Pins

Bit number

0 to 23

0 to 15

32 to 55

32 to 47

256 to 279

256 to 271

288 to 311

288 to 303

Refer to

Setup & Operation 14.2. Expansion I/O board

For cable wiring, refer to the

Setup & Operation 3.5 Noise Countermeasures

in order to prevent noise.

Remote function is initially assigned to both input and output from 0 to 7. For further details, refer to

Setup & Operation 12. I/O Remote Settings

11.1 Input Circuit

Input Voltage Range

ON Voltage

OFF Voltage

Input Current

: +12 to 24 V ± 10%

: +10.8 V (min.)

: +5 V (max.)

: 10 mA (TYP) at +24 V input

Two types of wiring are available for use with the two-way photo coupler in the input circuit.

Typical Input Circuit Application 1

(Same)

I/O-1

GND +DC

1 Input No.0 to 7 common

2 Input No.0

3 Input No.1

4 Input No.2

5 Input No.3

6 Input No.4

7 Input No.5

8 Input No.6

9 Input No.7

18 Input No.8 to 15 common

19 Input No.8

20 Input No.9

Omit

RC700 / RC700-A Rev.25 61

Setup & Operation 11. I/O Connector

Typical Input Circuit Application 2

(Same)

I/O-1

GND +DC

1 Input No.0 to 7 common

2 Input No.0

3 Input No.1

4 Input No.2

5 Input No.3

6 Input No.4

7 Input No.5

8 Input No.6

9 Input No.7

18 Input No.8 to 15 common

19 Input No.8

20 Input No.9

Omit

62 RC700 / RC700-A Rev.25

Setup & Operation 11. I/O Connector

11.2 Output Circuit

Rated Output Voltage : +12 V to 24 V ± 10%

Maximum Output Current : TYP 100 mA/1 output

Output Driver : PhotoMOS Relay

On-State Resistance (average) : 23.5 Ω or less

Two types of wiring are available for use with the nonpolar PhotoMOS relay in the output circuit.

Typical Output Circuit Application 1

I/O-1

10 Output No.0

GND

Load

+DC

(Same)

11 Output No.1

12 Output No.2

13 Output No.3

14 Output No.4

15 Output No.5

27 Output No.6

28 Output No.7

17 Output No.0 to 7 common (GND)

(Same)

29 Output No.8

30 Output No.9

Omit

33 Output No.8 to 15 common (GND)

RC700 / RC700-A Rev.25 63

Setup & Operation 11. I/O Connector

Typical Output Circuit Application 2

I/O-1

10 Output No.0

Load

GND +DC

(Same)

11 Output No.1

12 Output No.2

13 Output No.3

14 Output No.4

15 Output No.5

27 Output No.6

28 Output No.7

17 Output No.0 to 7 common (+DC)

29 Output No.8

30 Output No.9

Omit

33 Output No.8 to 15 common (+DC)

64 RC700 / RC700-A Rev.25

Setup & Operation 11. I/O Connector

11.3 Pin Assignments

No.

Signal Name

1 Input common No. 0 to 7

2 Input No. 0 (Start)

3 Input No. 1 (SelProg1)

4 Input No. 2 (SelProg2)

5 Input No. 3 (SelProg4)

6 Input No. 4 (Stop)

7 Input No. 5 (Pause)

8 Input No. 6 (Continue)

9 Input No. 7 (Reset)

10 Output No. 0 (Ready)

11 Output No. 1 (Running)

No.

Signal Name

No.

Signal Name

18 Input common No. 8 to 15 34 Input common No. 16 to 23

19 Input No. 8

20 Input No. 9

21 Input No. 10

22 Input No. 11

23 Input No. 12

24 Input No. 13

25 Input No. 14

26 Input No. 15

27 Output No. 6 (SError)

28 Output No. 7 (Warning)

12 Output No. 2 (Paused)

13 Output No. 3 (Error)

29 Output No. 8

30 Output No. 9

14 Output No. 4 (EstopOn) 31 Output No.10

15 Output No. 5 (SafeguardOn) 32 Not Used

35 Input No. 16

36 Input No. 17

37 Input No. 18

38 Input No. 19

39 Input No. 20

40 Input No. 21

41 Input No. 22

42 Input No. 23

43 Output No.11

44 Output No.12

45 Output No.13

46 Output No.14

47 Output No.15

48 Not Used

16 Not Used 49 Not Used

17 Output common No. 0 to 7 50 Not Used

Remote function inside ( ) in the table above is initially assigned to both input and output from 0 to 7. For further details, refer to

12. I/O Remote Settings

Connector

I/O Connector (Controller side)

Standard

D-sub 50 male pin

Screwlock #4 - 40

* The I/O connector, I/O cable, and terminal block are offered as options.

* I/O connector is included with shipment.

RC700 / RC700-A Rev.25 65

Setup & Operation 12. I/O Remote Settings

12. I/O Remote Settings

This section describes the functions and timings of input and output signals.

The remote functions may be assigned to your standard I/O board(s), expansion I/O board(s), or fieldbus I/O board(s) to enhance robot system control - either from an operational unit of your choice or a sequencer.

Remote function is initially assigned to both input and output from 0 to 7.

To accept external remote inputs, assign the remote function and the control device is remote.

The user defines the I/O number that a remote function is assigned to using software configuration.

For details about communication with external equipment, refer to

EPSON RC+ 7.0 User’s

Guide – 12. Remote Control

CAUTION

■ When using remote I/O, always make sure of the followings. Using the robot system under unsatisfactory conditions may cause malfunction of the system and/or safety problems.

Assign remote functions to inputs/outputs correctly and wire correctly when setting up remote I/O signals.

Make sure that the functions correspond to the correct input/output signals before turning ON the system.

When verifying the robot system operation, prepare for failures with initial settings or wiring. If the Manipulator functions unusually by the failures with initial settings or wiring, press the Emergency Stop switch immediately to stop the Manipulator.

NOTE



Remote function is available when virtual I/O is enabled.

When you set up a remote I/O signal, please either keep a written record of the settings or store the data in a file for later reference.

When you set up a fieldbus I/O signal to the remote function, response depends on the baud rate of the fieldbus. For details of fieldbus response, refer to the following manual:

Robot Controller RC700/RC90 option Fieldbus I/O

66 RC700 / RC700-A Rev.25

Setup & Operation 12. I/O Remote Settings

12.1 I/O Signal Description

Remote function is initially assigned to both input and output from 0 to 7.

To change the function assignment from the initial setting, use EPSON RC+ 7.0.

To use all signals, you will need to add Expansion I/O or Fieldbus I/O board(s).

12.1.1 Remote Input Signals

Remote inputs are used to control the Manipulators and start programs. Certain conditions must be met before inputs are enabled, as shown in the table below.

To accept external remote inputs, assign the remote function and set remote to the control device. When external remote input is available, “AutoMode output” turns ON.

Except “SelProg”, the signals execute each function when the signal starts in input acceptance condition. The function executes automatically. Therefore, no special programming is needed.

NOTE



When an error occurs, you must execute a “Reset” to clear the error condition before any other remote input commands can be executed. Use the “Error output” and “Reset input” to monitor the error status and clear error conditions from the remote device.

Start

Name Default

Execute function selected at SelProg.

(*2)

Description

Input Acceptance Condition (*1)

Ready output ON

Error output

OFF

EStopOn output

OFF

SafeguardOn output

OFF

Pause

input OFF

Stop

input OFF

SelProg1

SelProg2

SelProg4

SelProg8

SelProg16

SelProg32

Stop

Not Set

Specify the executing Main function number. (*2)

Pause

Continue

All tasks are paused.

Continue the paused task.

(*3) Running output ON

Paused output ON

Pause

input OFF

Stop

input OFF

Reset

Shutdown

ForcePowerLow

Not Set

Terminates the system.

Operates as the forced low power

Not Set

Reset emergency stop and error. (*4) Ready output ON function.

The robot is operated in the low power mode.

Power High control from the command is not accepted.

Executes the following according to the Controller preferences.

Stops or temporarily stops all the tasks and commands. (*12)

Any time

This input is acceptable even

AutoMode output is OFF.

RC700 / RC700-A Rev.25

All tasks and commands are stopped.

Setup & Operation 12. I/O Remote Settings

Name Default Description

Changes the output condition of

SelRobot Not Set MotorsOn, AtHome, PowerHigh, and

MCalReqd. (*9)

SelRobot1

SelRobot2

SelRobot4

SelRobot8

SelRobot16

Not Set

Specify the number of robot which executes a command. (*5)

SetMotorOn

SetMotorOff

Not Set

Turn ON robot motors.

Turn OFF robot motors.

Input Acceptance Condition

(*5) (*6)

Ready output ON

EStopOn output

OFF

SafeguardOn output

OFF

SetMotorOff

input OFF

(*5) Ready output ON

(*1)

SetPowerHigh

SetPowerLow

Home

MCal

Recover

ResetAlarm

SelAlarm1

SelAlarm2

SelAlarm4

SelAlarm8

Not Set

Set the robot power mode to High

(*5)

Ready output ON

EStopOn output OFF

SafeguardOn output OFF

SetPowerLow input OFF

Set the robot power mode to Low.

(*5) Ready output ON

Ready output ON

Move the Robot Arm to the home position defined by the user.

Execute MCal

After the safeguard is closed, recover to the position where the safeguard is open.

Not Set Cancel the alarm

(*5) (*7)

(*11)

Error output OFF

EStopOn output

OFF

SafeguardOn output

OFF

MotorsOn output ON

Pause

input OFF

Stop input OFF

Ready output ON

Error output OFF

EStopOn output OFF

SafeguardOn output OFF

MotorsOn output ON

Pause input OFF

Stop input OFF

Paused output ON

Error output OFF

EStopOn output OFF

SafeguardOn output OFF

RecoverReqd output ON

Pause input OFF

Stop input OFF

ALIVE Not Set

Input signal for alive monitoring of the

Controller. Same signal as the input will be output to ALIVE output. The master equipment can perform alive monitoring of the Controller by switching the input periodically and checking the output signal.

68 RC700 / RC700-A Rev.25

Setup & Operation 12. I/O Remote Settings

(*1) “AutoMode output” ON is omitted from the table. This is an input acceptance condition for all functions.

(*2) “Start input” executes Function specified by the following six bits: SelProg 1, 2, 4, 8, 16, and 32.

Function

Main

Main1

Main2

Main3

Main60

Main61

Main62

Main63

SelProg1 SelProg2 SelProg4 SelProg8 SelProg16 SelProg32

0=OFF, 1=ON

(*3) “NoPause task” and “NoEmgAbort task” do not pause.

For details, refer to EPSON RC+ 7.0

Online Help

Pause

SPEL + Language Reference

(*4) Turns OFF the I/O output and initializes the robot parameter.

For details, refer to EPSON RC+ 7.0

Online Help

Reset

SPEL + Language Reference

(*5) The values specified by “SelRobot1, 2, 4, 8, and 16” correspond to the robot numbers.

Robot number SelRobot1 SelRobot2 SelRobot4 SelRobot8 SelRobot16

0(All)

0=OFF, 1=ON

(*6) Initializes the robot parameter.

For details, refer to EPSON RC+ 7.0 Online Help or Motor in SPEL+ Language Reference.

(*7) For details, refer to EPSON RC+ 7.0 Online Help or MCal in SPEL+ Language Reference.

(*8) This is for experienced users only. Make sure that you fully understand the input specification before using.

CmdRunning output and CmdError output will not change for this input.

“NoEmgAbort task” will not stop by this input.

When the input changes from ON to OFF, all tasks and commands will stop.

(*9) This function changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd.

By setting this signal with the condition selected using SelRobot1 - SelRobot16, you can switch the output condition.

Once you select the condition, it will be kept until you change it or turn OFF / restart the Controller.

All Manipulators are selected as default.

RC700 / RC700-A Rev.25 69

Setup & Operation 12. I/O Remote Settings

(*10) The values specified by “SelAlarm1, 2, 4, and 8” correspond to the alarm numbers.

Alarm #

Target

Controller battery

Battery of the robot connected to CU

Grease of the robot connected to CU

Battery of the robot connected to DU1

Grease of the robot connected to DU1

Battery of the robot connected to DU2

Grease of the robot connected to DU2

Battery of the robot connected to DU3

Grease of the robot connected to DU3

SelAlarm1 SelAlarm2 SelAlarm4 SelAlarm8

1 0 0 0

0 1 0 0

0=OFF, 1=ON

The following parts are subject to grease up.

6-axis robot: Bevel gear on the Joint #6

SCARA, RS series: Ball screw spline unit on the Joint # 3

(*11) The specified alarm can be canceled by selecting the conditions using SelAlarm1-SelAlarm8 and setting this signal.

(*12) Operation of all tasks and commands, power mode of the robot, and PowerHigh command by the setting of the Controller preferences.

Preferences (1): “Motor power low when ForcePowerLow signal OFF”

Preferences (2): “ForcePowerLow signal change pauses all tasks”

For details of the Controller preferences, refer to

EPSON RC+ 7.0 User’s Guide

[Setup]-[System Configuration]-[Controller]-[Preferences] in 5.12.2 [System Configuration] Command

(Setup Menu)

1→0

0→1

1→0

0→1

1→0

0→1

1→0

0→1

Stop

Continue

Temp. stop

Stop

Temp. stop

Continue

Low only

High/Low

Low only

High/Low

Not accept

70 RC700 / RC700-A Rev.25

ErrorCode8192

InsideBox15

InsidePlane15

Alarm

Alarm1

RC700 / RC700-A Rev.25

Setup & Operation 12. I/O Remote Settings

12.1.2 Remote Output Signals

Remote outputs provide status for the Manipulator and Controller.

Remote outputs provide the assigned function using with any control device. The outputs execute automatically. Therefore, no special programming is needed.

Name

Ready

Running

Paused

Error

EStopOn

SafeguardOn

SError

Warning

MotorsOn

AtHome

PowerHigh

MCalReqd

Initial

Description

Turns ON when the Controller startup completes and no task is running.

Turns ON when task is running.

However, turns OFF when “Paused output” is ON.

Turns ON when pause task exists.

Turns ON when an error occurs.

Use “Reset input” to recover from the error.

Turns ON at Emergency Stop.

Turns ON when the safeguard is open.

Turns ON when critical error occurs.

When a critical error occurs, “Reset input” does not function. Reboot the Controller to recover.

Turns ON when warning occurs.

The task runs as normal with the warning. However, be sure to eliminate the cause of the warning as soon as possible.

Not set Turns ON when the robot motor is ON. (*5)

Not set Turns ON when the robot is in the home position.

(*5)

Not set Turns ON when the robot’s power mode is High. (*5)

Not set Turns ON when the robot hasn’t executed MCal.

(*5)

RecoverReqd after the safeguard is closed.

RecoverInCycle Not set Turns ON when at least one robot is executing Recover.

CmdRunning

Not set Turns ON when an input command is executing.

CmdError

CurrProg1

CurrProg2

CurrProg4

CurrProg8

CurrProg16

CurrProg32

Not set Turns ON when an input command cannot be accepted.

AutoMode

TeachMode

Not set Turns ON in remote input acceptable status.

Not set Turns ON in TEACH mode.

(*2)

Not set Indicates the error number.

Not set

Turns ON when any of the alarms is occurring. (*9)

Not set Turns ON when a battery alarm of the Controller is occurring.

Setup & Operation 12. I/O Remote Settings

Name

Alarm2

Alarm3

Alarm4

Alarm5

Alarm6

Alarm7

Alarm8

Alarm9

PositionX

PositionY

PositionZ

PositionU

PositionV

PositionW

Torque1

Torque2

Torque3

Torque4

Torque5

Torque6

CPU

ESTOP

ALIVE

Initial

Not set

Description

Turns ON when a battery alarm of the robot connected to CU is occurring.

Turns ON when a grease alarm of the robot connected to CU is occurring. (*10)

Turns ON when a battery alarm of the robot connected to DU1 is occurring.

Turns ON when a grease alarm of the robot connected to DU1 is occurring. (*10)

Turns ON when a battery alarm of the robot connected to DU2 is occurring.

Turns ON when a grease alarm of the robot connected to DU2 is occurring. (*10)

Turns ON when a battery alarm of the robot connected to DU3 is occurring.

Turns ON when a grease alarm of the robot connected to DU3 is occurring. (*10)

Outputs current X coordinate in the World coordinate system

(*6) (*7)

Outputs current Y coordinate in the World coordinate system

(*6) (*7)

Outputs current Z coordinate in the World coordinate system

(*6) (*7)

Outputs current U coordinate in the World coordinate system

(*6) (*7)

Outputs current V coordinate in the World coordinate system

(*6) (*7)

Outputs current W coordinate in the World coordinate system

Outputs the current torque value of Joint #1

Outputs the current torque value of Joint #2

Outputs the current torque value of Joint #3

Outputs the current torque value of Joint #4

Outputs the current torque value of Joint #5

Outputs the current torque value of Joint #6

Outputs the CPU load factor of the user program

(*6) (*7)

(*8)

Outputs how many times emergency stops have been executed.

Output signal for alive monitoring of the Controller. The signal input by ALIVE input will be output. The master equipment can perform alive monitoring of the Controller by switching the input periodically and checking the output signal.

72 RC700 / RC700-A Rev.25

Setup & Operation 12. I/O Remote Settings

(*1) Outputs the current or the last function number of CurrProg1, 2, 4, 8, 16, or 32.

Function

Main

Main1

Main2

Main3

Main60

Main61

Main62

Main63

0=OFF, 1=ON

CurrProg1 CurrProg2 CurrProg4 CurrProg8 CurrProg16 CurrProg32

(*2) Remote function is available in the followings conditions.

- The setting is Auto mode and the control device is remote.

- The setting is Program mode and Remote I/O is enabled.

(*3) For details, refer to EPSON RC+ 7.0

Online Help

Box

SPEL

Language Reference

(*4) For details, refer to EPSON RC+ 7.0

Online Help

Plane

SPEL

Language Reference

(*5) Manipulator status is output as follows, according to the condition selected in SelRobot.

Wait at least 40 ms before inputting the signal after changing the condition in SelRobot.

Name

MotorsOn

AtHome

PowerHigh

MCalReqd

(SelRobot1- SelRobot16) condition when inputting SelRobot

0: All robots are selected 1 - 16: Particular robot number is selected

Turns ON when at least one motor is

ON.

Turns ON when all robots are in the home position.

Turns ON when at least one robot’s power mode is High.

Turns ON when at least one robot hasn’t executed MCal

Turns ON when the motor of the selected robot is ON.

Turns ON when the selected robot is in the home position.

Turns ON when the selected robot’s power mode is High.

Turns ON when the selected robot hasn’t executed MCal.

(*6) Outputs information of the selected robot when SelRobot1, SelRobot2, SelRobot4, SelRobot8, and

SelRobot16 are set. If not, information of Robot 1 will be output.

(*7) Outputs information in Real format.

(*8) Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the task manager.

(*9) The signal turns ON when the alarm occurs either in the Controller alarm information or the robot alarm information.

(*10) The following parts are subject to grease up.

6-axis robot: Bevel gear on the Joint #6

SCARA, RS series: Ball screw spline unit on the Joint # 3

RC700 / RC700-A Rev.25 73

Setup & Operation 12. I/O Remote Settings

12.2 Timing Specifications

12.2.1 Design Notes for Remote Input Signals

The following charts indicate the timing sequences for the primary operations of the

Controller.

The indicated time lapses (time durations) should be referred to only as reference values since the actual timing values vary depending on the number of tasks running, as well as

CPU speed of the Controller. Check carefully and refer to the following charts for the timing interrelation when you enter an input signal.

During system design, make sure that you actuate only one remote input operation at a time, otherwise an error will occur.

The pulse width of an input signal must be 25 or more milliseconds to be detected.

12.2.2 Timing Diagram for Operation Execution Sequence

MotorsOn

940

Output

924

AtHome

Output

SetMotorsOn

Input

Depending on

HOME motion

SetMotorsOff

Input

Home

Input

[Unit: msec]

12.2.3 Timing Diagram for Program Execution Sequence

Ready

Output

CurrProg1

Output

Running

Output

107

* Paused

107

Output

162

SelProg1

Input

Start

Input

Pause

Input

Continue

Input

Stop

Input

* The duration varies depending on the Quick Pause (QP) setting and the program’s operating status at the time of Pause input [Unit: msec]

74 RC700 / RC700-A Rev.25

Setup & Operation 12. I/O Remote Settings

12.2.4 Timing Diagram for Safety Door Input Sequence

Running

Output

Paused

Output

SafeguardOn

Output

MotorsOn

Output

Safety Input

Latch Input

Continue

Input

1052

500

928

[Unit: msec]

12.2.5 Timing Diagram for Emergency Stop Sequence

Running

Output

MotorsOn

Output

EStopOn

Output

Emergency Input

Reset

Input

920

[Unit: msec]

RC700 / RC700-A Rev.25 75

Setup & Operation 13. R-I/O Connector

13. R-I/O Connector

The R-I/O connector is for connecting the input signals of the real time I/O function.

Control Unit

Drive Unit 1

Drive Unit 2

Drive Unit 3

Input

Pins Bit number

2 24, 25

2 56, 57

280, 281

312, 313

By inputting trigger signals to the R-I/O, you can keep and get the operating robot position when trigger is detected. If you use this function with Vision, you can create an application of parts pickup, alignment, and assembly by robots without stopping.

For details, refer to

EPSON RC+7.0 Users Guide – 20. Real time I/O

13.1 Input Circuit

Input Voltage Range

Input Current

: +24 V

10%

: 10 mA (TYP) at +24 V input

The following two types of wiring are available in the input circuit.

Typical Input Circuit Application 1

R-I/O GND +24V

9 INPUT No.24-1

10 INPUT No.24-2

11 INPUT No.25-1

12 INPUT No.25-2

76 RC700 / RC700-A Rev.25

Setup & Operation 13. R-I/O Connector

Typical Input Circuit Application 2

R-I/O GND +24V

9 INPUT No.24-1

10 INPUT No.24-2

INPUT No.25-1

12 INPUT No.25-2

13.2 Pin Assignments

Pin No.

1 to 8, 13 to 15*

Signal Name

INPUT No24-1

INPUT No24-2

INPUT No25-1

INPUT No25-2

Not Used

* For the pins 1 to 8 and 13 to 15, do not connect anything.

Connector

R-I/O Connector (Controller side)

Standard

D-sub 15 male pin

Screwlock #4 - 40

CAUTION



When using R-I/O connector, be careful of the following points. If you use the

R-I/O connector without meeting the necessary conditions, it may cause the system failure and/or safety problems.

- Use a shielded cable and route the cables as far from the surrounding noise sources as possible.

For details, refer to

Setup & Operation: 3.5 Noise Countermeasures

- Make sure to check the cable routing before turning ON the power supply.

RC700 / RC700-A Rev.25 77

Setup & Operation 14. Option Slots

14. Option Slots

14.1 About Option Slots

Use the Option Slot to install the optional boards of RC700 / RC700-A Controller.

Up to four option boards can be installed in the Controller. The types of the option boards are as follows:

14.2 Expansion I/O Board

14.3 Fieldbus I/O Board

14.4 RS-232C Board

14.5 PG Board

14.6 Analog I/O Board

14.7 Force Sensor I/F Board

14.8 EUROMAP67 Board

78 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.2 Expansion I/O Board

14.2.1 Expansion I/O Board

Each additional expansion I/O board provides 24 inputs and 16 outputs.

You can install up to four expansion I/O boards in the Controller.

The input and output bit numbers are assigned as follows. (Bit number is assigned from

CN1.)

Input Bit #

0 to 23

64 to 87

96 to 119

128 to 151

160 to 183

Output Bit #

0 to 15

64 to 79

96 to 111

128 to 143

160 to 175

Applicable Hardware

The 1

The 2

STANDARD I/O st nd

Expansion I/O board

The 3rd Expansion I/O board

The 4th Expansion I/O board

14.2.2 Board Configuration (Expansion I/O Board)

Board Appearance

CN3

DSW1

DSW2

Switch and Jumper Configuration

Setup the DSW1 and DSW2. CN3 is all open.

1 st board 2 nd board

3 rd

board

SW1

SW2

SW3

SW4

SW5

SW6

SW7

SW8

SW1

SW2

SW3

SW4

SW5

SW6

SW7

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

4 th

board

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

SW2

SW3

SW4

SW1

SW2

SW3

SW4

SW3

SW2

SW1

SW4

SW3

SW2

SW1

1 2

1 2 1 2

9 10

9 10 9 10

14.2.3 Confirmation with EPSON RC+ 7.0 (Expansion I/O Board)

When an expansion I/O board is mounted to the option unit, the Controller software automatically identifies the expansion I/O board. Therefore, no software configuration is needed.

Correct identification can be confirmed from EPSON RC+ 7.0.

RC700 / RC700-A Rev.25 79

Setup & Operation 14. Option Slots

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the

[System Configuration] dialog.

(2) Select [Controller]-[Inputs / Outputs].

(3) Make sure that “Yes” is displayed in the Installed column.

The expansion I/O board is identified by the Controller software. Corresponding Input and Output is available.

14.2.4 Input Circuit

Input Voltage Range : + 12 V to 24 V

10%

ON Voltage : + 10.8 V (Min.)

OFF Voltage

Input Current

: + 5 V (Max.)

: 10 mA (TYP) at + 24 V input

Two types of wiring are available for use with the two-way photo coupler in the input circuit.

80 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

Protected Expansion I/O Board Typical Input Circuit Application 1

Expansion I/O board-1

GND +DC

1 Input No.64 to 71 common

(Same)

2 Input No.64

3 Input No.65

4 Input No.66

5 Input No.67

6 Input No.68

7 Input No.69

8 Input No.70

9 Input No.71

18 Input No.72 to 79 common

19 Input No.72

20 Input No.73

Omit

Protected Expansion I/O Board Typical Input Circuit Application 2

Expansion I/O board -1

GND +DC

1 Input No.64 to 71 common

(Same)

2 Input No.64

3 Input No.65

4 Input No.66

5 Input No.67

6 Input No.68

7 Input No.69

8 Input No.70

9 Input No.71

18 Input No.72 to 79 common

19 Input No.72

20 Input No.73

Omit

RC700 / RC700-A Rev.25 81

Setup & Operation 14. Option Slots

14.2.5 Output Circuit

CAUTION

Rated Output Voltage

Maximum Output Current

: +12 V to 24 V

10%

: TYP 100 mA/1 output

Output Driver : Photo coupler

■

The output circuit has two types: Sink type and Source type. The either type has been configured in the Controller before the shipment. Before routing the cables, make sure that the I/O output type of your Controller conforms to the external connection devices.

If you route the cables with wrong output type, the parts on the board will be broken and the robot system won’t operate normally.

■ Use the wiring diagram of

2: Source Type

for CE conformance. Be sure to wire correctly. Improper wiring may cause safety problems as it may make the

Manipulator move unusually.

■ Be sure to wire the output circuit properly because it has no protection circuitry for short-circuit and reverse-connection. Improper wiring may cause malfunction of the parts on the board and then improper function of the robot system.

82 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

Typical Output Circuit Application 1: Sink Type

GND +DC

10 Output No.64

(Same)

11 Output No.65

12 Output No.66

13 Output No.67

14 Output No.68

15 Output No.69

～

Omit

27 Output No.70

28 Output No.71

17 Output No.64 to 71 Common (GND)

29 Output No.72

30 Output No.73

～

RC700 / RC700-A Rev.25 83

Setup & Operation 14. Option Slots

Typical Output Circuit Application 2: Source Type

17 Output No.64 to 71 Common

GND +DC

(Same)

10 Output No.64

11 Output No.65

12 Output No.66

13 Output No.67

14 Output No.68

15 Output No.69

27 Output No.70

28 Output No.71

33 Output No.72 to 79 Common

29 Output No.72

30 Output No.73

～～

Omit

～

84 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.2.6 Pin Assignments (Expansion I/O Board)

Pin Assignment table of the 1st Expansion I/O board.

Connector 1 Pin Assignments

No.

Signal Name

No.

Signal Name

No.

Signal Name

1 Input common No.64 to 71

2 Input No.64

3 Input No.65

4 Input No.66

5 Input No.67

6 Input No.68

7 Input No.69

8 Input No.70

18 Input common No.72 to 79

19 Input No.72

20 Input No.73

21 Input No.74

22 Input No.75

23 Input No.76

24 Input No.77

25 Input No.78

34 Input common No.80 to 87

35 Input No.80

36 Input No.81

37 Input No.82

38 Input No.83

39 Input No.84

40 Input No.85

41 Input No.86

9 Input No.71

10 Output No.64

11 Output No.65

12 Output No.66

26 Input No.79

27 Output No.70

28 Output No.71

29 Output No.72

42 Input No.87

43 Output No.75

44 Output No.76

45 Output No.77

13 Output No.67

14 Output No.68

30 Output No.73

31 Output No.74

46 Output No.78

47 Output No.79

15 Output No.69

16 Not Used

17 Output common No.64 to 71

32 Not Used 48 Not Used

33 Output common No.72 to 79 49 Not Used

50 Not Used

Connector

I/O Connector (Controller side)

Standard

D-sub 50 male pin

Screwlock #4 - 40

* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

RC700 / RC700-A Rev.25 85

Setup & Operation 14. Option Slots

Pin Assignment table of the 2 nd Expansion I/O board.

Connector 1 Pin Assignments

No.

Signal Name

No.

Signal Name

No.

Signal Name

2 Input No.96

3 Input No.97

4 Input No.98

5 Input No.99

6 Input No.100

7 Input No.101

8 Input No.102

9 Input No.103

10 Output No.96

11 Output No.97

12 Output No.98

13 Output No.99

14 Output No.100

15 Output No.101

16 Not Used

19 Input No.104

20 Input No.105

21 Input No.106

22 Input No.107

23 Input No.108

24 Input No.109

25 Input No.110

26 Input No.111

27 Output No.102

28 Output No.103

29 Output No.104

30 Output No.105

31 Output No.106

32 Not Used

35 Input No.112

36 Input No.113

37 Input No.114

38 Input No.115

39 Input No.116

40 Input No.117

41 Input No.118

42 Input No.119

43 Output No.107

44 Output No.108

45 Output No.109

46 Output No.110

47 Output No.111

48 Not Used

49 Not Used

50 Not Used

Connector

I/O Connector (Controller side)

Standard

D-sub 50 male pin

Screwlock #4 - 40

* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

86 RC700 / RC700-A Rev.25

Pin Assignment table of the 3 rd Expansion I/O board.

Connector 1 Pin Assignments

No.

Signal Name

Input common No.128 to

135

2 Input No.128

3 Input No.129

4 Input No.130

5 Input No.131

6 Input No.132

7 Input No.133

8 Input No.134

9 Input No.135

10 Output No.128

11 Output No.129

12 Output No.130

13 Output No.131

14 Output No.132

15 Output No.133

No.

Signal Name

19 Input No.136

20 Input No.137

21 Input No.138

22 Input No.139

23 Input No.140

24 Input No.141

25 Input No.142

26 Input No.143

27 Output No.134

28 Output No.135

29 Output No.136

30 Output No.137

31 Output No.138

32 Not Used

16 Not Used

Setup & Operation 14. Option Slots

No.

Signal Name

35 Input No.144

36 Input No.145

37 Input No.146

38 Input No.147

39 Input No.148

40 Input No.149

41 Input No.150

42 Input No.151

43 Output No.139

44 Output No.140

45 Output No.141

46 Output No.142

47 Output No.143

48 Not Used

49 Not Used

50 Not Used

Connector

I/O Connector (Controller side)

Standard

D-sub 50 male pin

Screwlock #4 - 40

* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

RC700 / RC700-A Rev.25 87

Setup & Operation 14. Option Slots

Pin Assignment table of the 4 th Expansion I/O board.

Connector 1 Pin Assignments

No.

Signal Name

No.

Signal Name

No.

Signal Name

2 Input No.160

3 Input No.161

4 Input No.162

5 Input No.163

6 Input No.164

7 Input No.165

8 Input No.166

9 Input No.167

10 Output No.160

11 Output No.161

12 Output No.162

13 Output No.163

14 Output No.164

15 Output No.165

16 Not Used

19 Input No.168

20 Input No.169

21 Input No.170

22 Input No.171

23 Input No.172

24 Input No.173

25 Input No.174

26 Input No.175

27 Output No.166

28 Output No.167

29 Output No.168

30 Output No.169

31 Output No.170

32 Not Used

35 Input No.176

36 Input No.177

37 Input No.178

38 Input No.179

39 Input No.180

40 Input No.181

41 Input No.182

42 Input No.183

43 Output No.171

44 Output No.172

45 Output No.173

46 Output No.174

47 Output No.175

48 Not Used

49 Not Used

50 Not Used

Connector

I/O Connector (Controller side)

Standard

D-sub 50 male pin

Screwlock #4 - 40

* The I/O connector, I/O connector cable, terminal block, and I/O connector kit are offered as options.

88 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.3 Fieldbus I/O Board

The Fieldbus I/O board has the following six types.

- DeviceNet

- PROFIBUS-DP

- PROFINET

- CC-LINK

- EtherNet/IP

- EtherCAT

For the details, refer to the

Robot Controller RC700/RC90 Controller Option Fieldbus I/O manual

RC700 / RC700-A Rev.25 89

Setup & Operation 14. Option Slots

14.4 RS-232C Board

14.4.1 About the RS-232C Board

One standard RS-232C port is not available with the Controller.

You need to mount the RS-232C board in the Option Slot to communicate with external equipment using two or more port RS-232C.

The RS-232C board accepts two ports expansion per board. A maximum of two boards/four ports expansion is available for RS-232C board.

When using the Force Sensor I/F board, a maximum of one board/two ports expansion is available for RS-232C board.

Port Number

Port numbers are assigned as follows.

Port No.

#2, #3

#4, #5

Supported hardware

First RS-232C board

Second RS-232C board

14.4.2 Board Setup (RS-232C)

Board Appearance

CN3

JMP1

DSW1

CN1

DSW2

Switch and Jumper Configuration

Set DSW1, DSW2 and JMP1.

CN3 is all open.

2 nd board

CN5

(#2 or #4)

CN4

(#3 or #5)

IRQ5

IRQ7

IRQ10

IRQ11

IRQ15

1 st board

JP1

JP2

JP3

JP4

JP5

SW1

SW2

SW3

SW4

SW5

SW6

SW7

SW8

IRQ5

IRQ7

IRQ10

IRQ11

IRQ15

JP1

JP2

JP3

JP4

JP5

SW1

SW2

SW3

SW4

SW5

SW6

SW7

SW8

SW1

SW2

SW3

SW4

SW1

SW2

SW3

SW4

1 2

9 10 9 10

90 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.4.3 Confirmation with EPSON RC+ (RS-232C)

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the

[System Configuration] dialog.

(2)

Select the [RS232]-[CU].

14.4.4 RS-232C Software Communication Setup (RS-232C)

Available communication settings are as follows.

Item

Baud Rates

Data bit length

Stop bit length

Parity

Terminator

14400, 19200, 38400, 57600, 115200

7, 8

1, 2

Odd, even, NA

CR, LF, CRLF

Specification

110, 300, 600, 1200, 2400, 4800, 9600,

Refer to

EPSON RC+ 7.0 Online Help

Users Guide – 13. RS-232C Communications

for

RS-232C communication from the Robot application.

RC700 / RC700-A Rev.25 91

Setup & Operation 14. Option Slots

14.4.5 Communication Cable (RS-232C)

Prepare a communication cable as described in this section.

Connector

RS-232C

Connector (Controller side)

Standard

D-sub 9 male pin

Screwlock #4 - 40

NOTE



Use twisted pair cable for shielded wire.

Clamp the shield to the hood for noise prevention.

Pin assign of the RS-232C connector is as follows.

Pin No

Signal

DCD

RXD

TXD

DTR

GND

DSR

RTS

CTS

Function

Data carrier detect

Receive data

Send data

Terminal ready

Signal ground

Data set ready

Request to send

Clear to send

Ring indicator

Signal Direction

Input

Output

Input

Output

Input

92 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.5 PG Board

The PG board has the following two types of usage. For details, refer to the related manuals.

When using as the conveyor encoder:

Refer to

EPSON RC+ 7.0 User’s Guide 16. Conveyor Tracking

When using as a PG motion system:

Refer to

Robot Controller RC700/RC90 option PG Motion System

RC700 / RC700-A Rev.25 93

Setup & Operation 14. Option Slots

14.6 Analog I/O Board

14.6.1 About Analog I/O Board

Analog input/output function is available when mounting analog I/O board to the option slot.

You can install a maximum of four analog I/O boards in the option slot.

Analog I/O Board (1CH): “DAC: 1ch” is available for one board.

Analog I/O Board (4CH): “DAC: 2ch, ADC: 2ch” is available for one board.

DAC: Analog signal output (voltage/current)

ADC: Analog signal input (voltage/current)

Connection Example of Analog I/O Board (4CH)

Robot Controller

PC for

Development

Analog I/O Board 4CH

(Optional Board)

ADC CH2 DAC CH2 ADC CH1 DAC CH1

MC Signal

MC Power

Manipulator

External equipment 1 *

External equipment 2 *

External equipment 3 *

External equipment 4 *

*: Voltage/Current Input

94 RC700 / RC700-A Rev.25

Overview of Analog I/O Board Circuit

Setup & Operation 14. Option Slots

Rv: Voltage Input Terminating Resistance (100kΩ) ,

Rc: Current Input Terminating Resistance

14.6.2 Board Configuration (Analog I/O Board)

RC700 / RC700-A Rev.25 95

Setup & Operation 14. Option Slots

Configuration of Switch and Jumper

(1) Address Configuration (SW1): Address of the option board

Configuration S1 S2 S3 S4 S5 S6 S7 S8

The first board

The second board

The third board

The fourth board

Off

SW1

S5 to S8: Not used. Please turn them OFF.

(2) Analog Output: Configuration

Voltage Current Switching Switch (SWD1): Voltage/current output

Range Switching Switch (SWD2): Output range

Channel Output Mode

Range

Configuration

DAC 1ch

DAC 2ch

Voltage output mode

Current output mode

Voltage output mode

Current output mode

10V

0~5V

0~10V *

0~20mA

Off

4~20mA

Off

± 5V

10V

0~5V

0~10V *

0~20mA

Not Use

Not Use Not Use Not Use

Off

Not Use Not Use Not Use Not Use

Not Use Not Use

Off

4~20mA

SWD1 (voltage current switching)

S1 S2

Off

S3 S4 S1

SWD2 (range switching)

S2 S3

Off

*: Default: DAC default configuration (voltage output: 0 to 10V)

SWD1

SWD2

96 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

(3) Analog Input: Configuration

Voltage Current Switching Jumper (CN8/CN9): Current input/voltage input

1-2 pin short: Voltage input configuration

2-3 pin short: Current input configuration

Voltage Current Switching Switch (SWD1): Voltage/current input

Range Switching Switch (SWD3): Input range

Channel Input Mode

Voltage

Input Mode

Current

Input Mode

Voltage

Input Mode

Range

Configuration

SWD1(voltage current switching)

Not

Use

Not

Use

Not

Use

Not

Use

Off

Not

Use

Not

Use

CN8

(voltage current switching)

1-2 short

2-3 short

CN9

(voltage current switching)

ADC 1ch

ADC 2ch

± 5.12V

± 10.24V

0 to 5.12V

0 to 10.24V *

0 to 24mA

5.12V

10.24V

0 to 5.12V

0 to 10.24V *

0 to 24mA

Off

Not Use

1-2 short

2-3 short

Current

Input Mode

Channel Input Mode

ADC 1ch

ADC 2ch

Voltage

Input Mode

Range

Configuration

5.12V

10.24V

0 to 5.12V Off

0 to 10.24V * Off

SWD3 (range switching)

Off

Not

Use

Not

Use

SWD4

Off

Current

Input Mode

Voltage

Input Mode

0 to 24mA

5.12V

10.24V

0 to 5.12V

0 to 10.24V *

Off

Not

Use

Not

Use

Off

Current

Input Mode

0 to 24mA Off On

SWD4: Not used. Please turn them OFF.

*: Default: ADC default configuration (voltage input: 0 to 10.24V)

SWD1

SWD3

SWD4

RC700 / RC700-A Rev.25 97

Setup & Operation 14. Option Slots

(4) Shield Configuration

“Frame Ground” and “User Ground” of the shield: CN4, CN5, CN6, and CN7

1-2 pin short : Frame ground (FG) shield configuration.

When you want to spread the shield noise to the robot

Controller side.

2-3 pin short : User ground (UG) shield configuration.

When you want to insulate the shield by external connection device and robot Controller.

Or when you want to spread the shield noise to the external connection device side.

User Ground (UG): Analog ground (AGND) on the external connection device side.

Frame Ground (FG): Digital ground (DGND) inside the robot Controller.

CN5 CN6 CN7 Channel Configuration

FG Shield*

DAC1ch

UG Shield

FG Shield *

DAC2ch

UG Shield

FG Shield *

ADC1ch

UG Shield

ADC2ch

FG Shield *

UG Shield

CN4

1-2 short

2-3 short

Not Use

1-2 short

2-3 short

Not Use

1-2 short

2-3 short

Not Use

1-2 short

2-3 short

*: Default

14.6.3 Confirmation with EPSON RC+ (Analog I/O Board)

The Controller software automatically identifies the analog I/O board when mounting analog I/O board to the optional unit of the Controller.

Therefore, no software configuration is needed.

Correct identification can be confirmed from EPSON RC+.

(1)

Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the

[System Configuration] dialog.

(2) Select [Controller]-[Inputs / Outputs]-[Analog I/O].

98 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.6.4 Input Circuit (Analog I/O Board)

Input resolution

Input range

: 16 bit

: voltage input: 0 to 5.12V, 0 to 10.24V,

5.12V,

10.24V current input: 0 to 24mA

Input impedance (Voltage/Current)

: Applox.100k

Ω /Applox.422

Ω

Absolute rated voltage of input pins

: ± 11V

Insulation specification : insulation between channels, bus insulation

CAUTION

14.6.5 Output Circuit (Analog I/O Board)

Output resolution

Output range

: 16 bit

: voltage output: 0 to 5V, 0 to 10V, ± 5V, ± 10V current output: 0 to 20mA, 4 to 20mA

Output impedance (Voltage/Current)

: Applox.17

Ω

/Applox.50M

Ω

Absolute rated voltage of output pins

11V

Load resistance/capacity (@voltage output)

: 1k

Ω

or more/5nF or less

Load resistance /inductance (@voltage output)

: 300k

Ω

or more/50mH or less

Insulation specification : insulation between channels, bus insulation



Analog input/output may not function properly if performing improper wiring or configuration.



Operating under external noise may affect to the analog input/output. Make sure the noise environment such as weather the shield is securely removed.



Use the shield/twist cable.



Never apply a voltage or current which is out of input/output range to the analog input/output pin. Applying a voltage more than ± 11V may result in malfunction of the board.



Improper wiring or short circuit may cause malfunction of the parts on the board and then improper function of the robot system.

RC700 / RC700-A Rev.25 99

Setup & Operation 14. Option Slots

14.6.6 Pin Assignments (Analog I/O Board)

Signal

1CH Specifications

Signal

VOUT (DAC 1ch)

COM (DAC 1ch)

Shield (DAC 1ch)

Not Used

Signal

Shield (DAC 1ch)

IOUT (DAC 1ch)

COM (DAC 1ch)

Not Used

Signal

4CH Specifications

Signal

VOUT (DAC 1ch)

COM (DAC 1ch)

Shield (DAC 1ch)

Not Used

VIN (ADC 1ch)

COM (ADC 1ch)

Not Used

VOUT (DAC 2ch)

COM (DAC 2ch)

Shield (DAC 2ch)

Not Used

VIN (ADC 2ch)

COM (ADC 2ch)

Signal

Shield (DAC 1ch)

IOUT (DAC 1ch)

COM (DAC 1ch)

Not Used

Shield (ADC 1ch)

Not Used

Shield (DAC 2ch)

IOUT (DAC 2ch)

COM (DAC 2ch)

Not Used

Shield (ADC 2ch)

100 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.7 Force Sensor I/F Board

14.7.1 About Force Sensor I/F Board

You need to mount the Force Sensor I/F board in the option slot to communicate with the

Force Sensor.

Force Sensor I/F board has one port for the connector to connect to Force Sensor and only one board is available.

When using the Force Sensor I/F board, one board expansion is available for RS-232C board.

Force Sensor can connect to all S250 series.

14.7.2 Board Configuration (Force Sensor I/F Board)

Board Appearance

CN3

Switch and Jumper Configuration

Do not change the following DSW1,

DSW2, and JMP1 configurations.

CN5

(Sensor1)

JMP1

DSW1

CN1

CN3 is all open.

DSW2

IRQ5

IRQ7

IRQ10

IRQ11

IRQ15

JP1

JP2

JP3

JP4

JP5

SW1

SW2

SW3

SW4

SW5

SW6

SW7

SW8

SW1

SW2

SW3

SW4

RC700 / RC700-A Rev.25 101

Setup & Operation 14. Option Slots

14.7.3 Confirmation with EPSON RC+ (Force Sensor I/F Board)

The Controller software automatically identifies the Force Sensor I/F board when mounting

Force Sensor I/F board to the optional slot of the Controller.

Correct identification can be confirmed from EPSON RC+.

(1)

Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the

[System Configuration] dialog.

(2) Select [Force Sensing]-[Force Sensor I/F Unit].

For the setting method of the Force Sensor I/F unit, refer to the following.

EPSON RC+ 7.0 Online Help

EPSON RC+ 7.0 Option Force Guide 7.0 Manual

Software 1.1

Configuring the Force Sensor I/F Unit

102 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.8 EUROMAP67 Board

EUROMAP67 is a standardized interface for communications between Westernmanufactured injection molding machines (IMM) and robots.

List of accessories

Parts Code Parts

EUROMAP67 Cable1

CN2

Note

Emergency Stop cable

(CN2)

2194667

EUROMAP67 Cable2

CN1

CN4

Connection cable

Robot Controller(CN1)

- IMM(CN4)

2165789

2194882

EUROMAP67Emergency Connector Plug For emergency stop switch wiring

Soldering plug (CN3)

EUROMAP67Emergency Connector

Shell

For emergency stop switch wiring

Shell kit (CN3)

Wire the emergency stop switch wiring connector (CN3).

Reference:

Setup & Operation 9. EMERGENCY

The connector signal placement is described below.

Setup & Operation 14.8.11 Emergency stop connecter Pin Assignments

List of connectors used

Connecter No. Manufacturer

CN1

CN2

JAE

CN3 (accessory) 3M

CN4 Tyco

RC700 / RC700-A Rev.25

DD-50PF-N

10126-3000PE, 10326-52K0-008

10136-3000PE, 10336-52K0-008

T1319320125-000 / T2020252201-000 /

T2020252101-000

Model

103

Setup & Operation 14. Option Slots

Connection outline

One EUROMAP67 board:

(IMM: Injection Molding Machine)

Two EUROMAP67 boards:

104 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.8.1 Notes on the EUROMAP67 Board

The EUROMAP67 board contains 15 inputs and 16 outputs on a single substrate.

You can install up to two

EUROMAP67 board in the Controller.

The input and output bit numbers are assigned as follows.

Input Bit #

192 to 206

224 to 238

Output Bit #

192 to 208

224 to 240

Supported Hardware

The 1 st

EUROMAP67 board

The 2 nd EUROMAP67 board

Outputs No.205 and No.237 are not used. However, the EUROMAP standard describes that they may potentially be used in the future.

EUROMAP67 pin definitions

EUROMAP connecter

(CN4) Pin No.

ZA1

ZC1

ZA2

ZC2

ZA3

ZC3

ZA4

ZC4

ZA5

ZA6

ZA7

ZA8

ZA9

Signal Name

Emergency stop of machine channel1

Emergency stop of machine channel2

Safety devices of machine channel1

Safety devices of machine channel2

Reject

Mold closed

Mold open position

Intermediate mold opening position

Supply from handling device / robot

ZB2

ZB3

ZB4

ZB5

ZB6

ZB7

ZB8

ZC5

ZC6

ZC7

ZC8

Enable operation with handing device / robot

Ejector back position

Ejector forward position

Core pullers 1 in position 1

Core pullers 1 in position 2

Core pullers 2 in position 1

Core pullers 2 in position 2

Reserved for future use by EUROMAP

Not fixed by EUROMAP, manufacturer dependent

Supply from handling device / robot ZC9

RC700 / RC700-A Rev.25

Emergency stop of robot channel1

Emergency stop of robot channel2

Mold area free

Reserved for future use by EUROMAP

Note

I/O Input

24V DC

(Robot → IMM)

I/O Input

0V ( Robot → IMM)

(*1)

105

(*1)

Setup & Operation 14. Option Slots

EUROMAP connecter

(CN4) Pin No.

Signal Name

Not fixed by EUROMAP, manufacturer dependent

Enable mold closure

Enable full mold opening

Reserved for future use by EUROMAP

Supply from IMM

Robot operation mode

Enable ejector back

Enable ejector forward

I/O Input

24V DC

(IMM → Robot)

I/O Input

Enable movement of core pullers 1 to position 1 I/O Input

Enable movement of core pullers 1 to position 2 I/O Input

Enable movement of core pullers 2 to position 1 I/O Input

Enable movement of core pullers 2 to position 2 I/O Input

Not fixed by EUROMAP, manufacturer dependent

Reserved for future use by EUROMAP

I/O Input

Not fixed by EUROMAP, manufacturer dependent

Supply from IMM

I/O Input

Note

0V ( IMM → Robot)

(*1)

*1: DO NOT input a voltage which exceeds 24V. Board may get damage and burnout.

106 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.8.2 Board Settings (EUROMAP67 Board)

Configure DIP-Switch (SW1) to enable the robot Controller to recognize the

EUROMAP67 board.

Board Appearance Switch setting: Setup the DSW1

1 st

board 2 nd

board

SW1

14.8.3 Installation (EUROMAP67 Board)

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw

(4) Insert the EUROMAP67 board into either slots 1, 2 or 3.

(Slot 4 cannot be used.)

(5) Use four screws to fix the EUROMAP67 board in place.

First, temporarily fasten the four screws in place. Next, fully tighten screws located diagonally opposite each other.

Take care not to damage the thread holes when doing so.

RC700 / RC700-A Rev.25 107

Setup & Operation 14. Option Slots

(6) Connect “Cable1 CN2”.

Use a cross-point screwdriver to fasten the connector (CN2).

(7) Refer to the following to connect CN3 to the emergency stop switch (emergency stop, safety door, latch).

Setup & Operation 9. EMERGENCY

(8) Connect “CN3”.

Use a cross-point screwdriver to fasten the connector (CN3).

108 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

(9) Connect “Cable2 CN1”.

Use a cross-point screwdriver to fasten the connector (CN1).

(10) Mount the Top Panel. (Mounting screw × 6)

(11) Connect “Cable2 CN4” to the IMM.

(12) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

RC700 / RC700-A Rev.25 109

Setup & Operation 14. Option Slots

14.8.4 Confirming with EPSON RC+ 7.0 (EUROMAP67 Board)

The Controller software will automatically recognize the EUROMAP67 board when attaching it to the optional unit. This eliminates the need to configure software settings.

You can check whether the software has correctly recognized the EUROMAP67 board on the EPSON RC+ 7.0 screen.

(1) Select EPSON RC+ 7.0 menu - [Setup] - [System Configuration] to display the [System

Configuration] dialog box.

(2) Select [Controller] - [Input/Output].

(3) Check that the [Installed] is “Yes”.

The EUROMAP67 board has been recognized by the Controller software.

You can now select the compatible inputs and outputs to use.

14.8.5 Sample Project (EUROMAP67 Board)

You can use a sample project of EUROMAP 67 board.

The following describes procedures to use the sample project.

(1) Select EPSON RC+ 7.0 menu - [Project]-[Open..].

(2) Select [Projects] - [Samples] - [Euromap67Demo1].

(3) Click the <Open> button.

(4) Modify the project depending on the IMM.

110 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.8.6 Circuit Overview (EUROMAP67 Board)

EUROMAP67 Board: System diagram

RC700 / RC700-A Rev.25 111

Setup & Operation 14. Option Slots

14.8.7 Input Circuit (EUROMAP67 Board)

Input Voltage Range

ON Voltage

OFF Voltage

Input Current

: + 12 to 24 V

: + 10.8 V (MIN.)

: + 5 V (MAX.)

: 10 mA TYP / + 24 V input

14.8.8 Output Circuit (EUROMAP67 Board)

Rated Output Voltage : + 12 V to 24 V

Maximum Output Current : TYP 100 mA / 1 output

Output Driver : PhotoMOS relay

On-resistance (average) : 23.5

Ω

or less

EUROMAP67 board input/output circuit overview

CAUTION



Input/output circuits do not have a built-in protection circuit to prevent short circuits or reverse connections.

Take care to avoid wiring mistakes.

Wiring mistakes may damage board parts and prevent the robot system from functioning properly.



Do not use a higher than rated voltage or current.

Doing so may damage board parts and prevent the robot system from functioning properly.



Note that the I/O logic for controlling the IMM will vary depending on the molding machine. Confirm the proper logic to use before creating programs.

112 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

14.8.9 Emergency Stop, Safeguard (EUROMAP67 Board)

When the emergency stop switch is held down on the robot Controller:

A function is used to communicate the emergency stop instruction to the IMM.

The emergency stop instruction is communicated using a safety relay. A deposition detection function is also provided.

→

When deposition is detected, the robot Controller will set the emergency stop instruction communicated to the IMM to OPEN.

When an emergency stop occurs on the IMM side:

A function is used to communicate the emergency stop instruction to the robot Controller.

When the safety door has been opened on the IMM side:

A function is used to communicate the open safeguard instruction to the robot Controller.

EUROMAP67 Board: Overview of Emergency stop circuit

EUROMAP67 Board: Overview of Safety Door circuit

RC700 / RC700-A Rev.25 113

Setup & Operation 14. Option Slots

14.8.10 I/O Pin Assignments (EUROMAP67 Board)

I/O

Pin Assignment table of the 1 st EUROMAP67 board.

Signal Name

Input No.192

Input No.193

Input No.194

Input No.195

Input No.196

Input No.197

Input No.198

Input No.199

Input No.200

Input No.201

Input No.202

Input No.203

Input No.204

Input No.205

Input No.206

Output No.192

Output No.193

Output No.194

Output No.195

Output No.196

Output No.197

Output No.198

Output No.199

Output No.200

Output No.201

Output No.202

Output No.203

Output No.204

D-Sub connecter (CN1)

Pin No.

4/3

EUROMAP67 connecter (CN4)

Pin No.

ZB6

ZB7

ZB8

ZC5

ZC6

ZC7

ZA5

ZA6

ZA7

ZA8

ZB2

ZB3

ZB4

ZB5

ZC8

A3/C3

(ModuleArea+/ModuleArea-)

(*1)

Output No.205

(Not Used)

Output No.206

Output No.207

Output No.208

24V (IMM)

GND (IMM)

Emergency1 (IMM)

Emergency2 (IMM)

Safety1 (IMM)

Safety2 (IMM)

24V (Robot)

GND (Robot)

Emergency1 (Robot)

Emergency2 (Robot)

37/36

39/38

21/20

6/5

23/22

35/34

19/18

A4/C4 (Not Used)

ZA1/ZC1

ZA2/ZC2

ZA3/ZC3

ZA4/ZC4

ZA9

ZC9

A1/C1

A2/C2

*1: DO NOT input a voltage which exceeds 24V. Board may get damage and burnout.

(*1)

114 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

I/O Pin Assignment table of the 2nd EUROMAP67 board.

Signal Name

Input No.224

Input No.225

Input No.226

Input No.227

Input No.228

Input No.229

Input No.230

Input No.231

Input No.232

Input No.233

Input No.234

Input No.235

Input No.236

Input No.237

Input No.238

Output No.224

Output No.225

Output No.226

Output No.227

Output No.228

Output No.229

Output No.230

Output No.231

Output No.232

Output No.233

Output No.234

Output No.235

Output No.236

Output No.237

(Not Used)

Output No.238

Output No.239

Output No.240

24V (IMM)

GND (IMM)

Emergency1 (IMM)

Emergency2 (IMM)

Safety1 (IMM)

Safety2 (IMM)

24V (Robot)

GND (Robot)

Emergency1 (Robot)

Emergency2 (Robot)

D-Sub connecter (CN1)

Pin No.

37/36

39/38

21/20

6/5

23/22

35/34

19/18

4/3

EUROMAP67 connecter (CN4)

Pin No.

ZA5

ZB7

ZB8

ZC5

ZC6

ZC7

ZC8

ZA6

ZA7

ZA8

ZB2

ZB3

ZB4

ZB5

ZB6

(*1)

A3/C3

(ModuleArea+/ModuleArea-)

A4/C4

(Not Used)

ZA1/ZC1

ZA2/ZC2

ZA3/ZC3

ZA4/ZC4

ZA9

ZC9

A1/C1

A2/C2

(*1)

*1: DO NOT input a voltage which exceeds 24V. Board may get damage and burnout.

RC700 / RC700-A Rev.25 115

Setup & Operation 14. Option Slots

14.8.11 Emergency stop connecter Pin Assignments

(EUROMAP67 Board)

Emergency stop connecter (CN2) Pin Assignment table of the EUROMAP67 board.

Emergency stop connecter

(CN2) Pin No.

Signal Name

1 ESW11

Function

2 ESW12

3 ESTOP1+

4 ESTOP1-

5 Not Used

6 Not Used

7 SD11

8 SD12

9 24V

10 24V

11 24VGND

12 24VGND

13 Not Used

14 ESW21

15 ESW22

16 ESTOP2+

17 ESTOP2-

18 SDLATCH1

19 SDLATCH2

20 SD21

21 SD22

22 24V

23 24V

24 24VGND

25 24VGND

26 Not Used

Emergency Stop switch contact

Emergency Stop circuit 1+

Emergency Stop circuit 1-

Safety Door input 1

24V output

24VGND output

Emergency Stop switch contact

Emergency Stop circuit 2+

Emergency Stop circuit 2-

Safety Door Latch Release

Safety Door input 2

24V output

24VGND output

116 RC700 / RC700-A Rev.25

Setup & Operation 14. Option Slots

Emergency stop connecter (CN3) Pin Assignment table of the EUROMAP67 board.

Emergency stop connecter

(CN3) Pin No.

Signal Name

1 ESW11

Function

2 ESW12

3 ESTOP1+

4 ESTOP1-

5 Not Used

6 Not Used

7 SD11

8 SD12

9 24V

10 24V

11 24VGND

12 24VGND

13 Not Used

14 ESW21

15 ESW22

16 ESTOP2+

17 ESTOP2-

18 SDLATCH1

19 SDLATCH2

20 SD21

21 SD22

22 24V

23 24V

24 24VGND

25 24VGND

26 Not Used

27 Not Used

28 Not Used

29 Not Used

30 Not Used

31 Not Used

32 Not Used

33 Not Used

34 Not Used

35 Not Used

36 Not Used

Emergency Stop switch contact

Emergency Stop circuit 1+

Emergency Stop circuit 1-

Safety Door input 1

24V output

24VGND output

Emergency Stop switch contact

Emergency Stop circuit 2+

Emergency Stop circuit 2-

Safety Door Latch Release

Safety Door input 2

24V output

24VGND output

RC700 / RC700-A Rev.25 117

Setup & Operation 14. Option Slots

118 RC700 / RC700-A Rev.25

Maintenance

This section contains maintenance procedures for the Robot Controller.

Maintenance 1. Safety Precautions on Maintenance

1. Safety Precautions on Maintenance

WARNING

CAUTION

■

Only authorized personnel who have taken the safety training should be allowed to execute teaching or calibration of the robot system.

The safety training is the program for industrial robot operator that follows the laws and regulations of each nation. The personnel who have taken the safety training acquire knowledge of industrial robots (operations, teaching, etc.).

The personnel who have completed the robot system-training class held by the manufacturer, dealer, or locally-incorporated company are allowed to maintain the robot system.

■ Only authorized personnel who have taken the safety training should be allowed to maintain the robot system.

The safety training is the program for industrial robot operator that follows the laws and regulations of each nation.

The personnel who have taken the safety training acquire knowledge of industrial robots (operations, teaching, etc.), knowledge of inspections, and knowledge of related rules/regulations.

The personnel who have completed the robot system-training and maintenance training classes held by the manufacturer, dealer, or locally-incorporated company are allowed to maintain the robot system.

■ 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 nonspecified 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.

■

Before 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.

■

Do not touch the Motor Driver modules and Switching Power Supply directly in the

Controller. The 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.

RC700 / RC700-A Rev.25 121

Maintenance 1. Safety Precautions on Maintenance

■ 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.

CAUTION

■ 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 function of the robot system but also serious safety problems.

NOTE



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

Maintenance 4

Backup and Restore.

122 RC700 / RC700-A Rev.25

Code

Quantity

Maintenance interval

Possible malfunction if maintenance is not performed

Duration

(reference)

Reference:

Maintenance

Expected product life

Maintenance 2. Regular Maintenance Inspection

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.

Part

Content

Fan filter

Cleaning

More than once a month is recommended

The temperature inside the

Controller may get too high and the robot system may not operate properly.

The error may occur due to reduction of the fun rotation.

Fan (Front) Fan (Rear)

Replacement Replacement Replacement Replacement

R13N865021

2195106

When the filter gets deteriorated

The robot system may not operate properly due to dust or the like.

R13B060510 R13B060510 R13B060003

When the error

515 occurs, or when the abnormal noise occurs

The error 9015 occurs and the robot system may stop.

When the error

516 occurs, or when the abnormal noise occurs

The error 9016 occurs and the robot system may stop.

Battery

Every 5 years, or when the error 511 occurs

The error 9011 occurs and the robot system may stop.

5 minutes

7.1

Fan Filter

5 minutes

7.1

Fan Filter

20 minutes

7.2.1

Front Fan

15 minutes

7.2.2

Regenerative

Fan(RC700-A only)

5 minutes

7.3

Battery

30,000 hours 30,000 hours -

RC700 / RC700-A Rev.25 123

Maintenance 3. Controller Structure

3. Controller Structure

3.1 Location of Parts

3.1.1 RC700

MDB3

MDB2 MDB1

DPB

15V Switching Power Supply Module

24V Switching Power Supply Module

15V Switching Power Supply Module

5V Switching Power Supply Module

Option Slots

DMB-LED Board

MDB3

Fan

(Front Fan)

DMB-SUB Board

3.1.2 RC700-A

MDB2 MDB1

Regenerative

Resistor

DMB

Battery

Fan 2 (Regenerative Fan)

NOTE

MDB : Motor Drive Board

DMB : Drive Main Board

DPB : Drive Power Board

24V Switching Power Supply Module

15V Switching Power Supply Module

5V Switching Power Supply Module

Option Slots

DMB-LED Board

Fan1

(Front Fan)

DMB-SUB Board

NOTE

MDB : Motor Drive Board

DMB : Drive Main Board

DPB : Drive Power Board

DMB

Battery

* MDB3 is not supplied for G1, G3, G6, G10, G20, and RS.

124 RC700 / RC700-A Rev.25

3.2 Diagram of Cable Connections

3.2.1 RC700

Maintenance 3. Controller Structure

RC700 / RC700-A Rev.25 125

Maintenance 3. Controller Structure

3.2.2 RC700-A

C4, C8, C12, G1, G3, G6, G10, G20, RS, X5

N2, N6

(Motor Driver (5, 6 axis) is not supplied for G1, G3, G6, G10, G20, RS and X5.)

126

(Combinations of axes for motor drivers differ from other manipulators.)

RC700 / RC700-A Rev.25

Maintenance 4. Backup and Restore

4. Backup and Restore

4.1 What is the Backup Controller Function?

The Controller configuration set by EPSON RC+ 7.0 can be stored with the “Backup

Controller” function.

The Controller settings can be restored easily using the data previously stored with “Backup

Controller” after a configuration mistake or Controller problem.

Be sure to execute “Backup Controller” before changing the Controller setup, before maintenance, or after teaching.

NOTE



For some problems, backup may not be available before maintenance has to be performed. Be sure to backup the data after making changes, before problems occur.

“Controller status storage function” is one of the RC700 / RC700-A functions. It saves the

Controller setup data same as “Backup Controller.”

There data can be used as the backup data at restoring.

The methods for “Controller Status Storage” are as follows:

A : “Controller backup to the USB memory”

For details, refer to

Setup & Operation 6. Memory Port

B : “Export Controller backup function” in EPSON RC+ 7.0.

For details, refer to

EPSON RC+ 7.0 User’s Guide 5.9.9 Import Command (Project

Menu)

4.2 Backup Data Types

The table below shows the files created with “Backup Controller”.

File Name

Backup.txt

Information file for restore

Overview

File including information for restoring the Controller.

CurrentMnp01.PRM Robot parameters

InitFileSrc.txt

Stores information such as TlSet.

Initial configuration Stores various Controller parameters.

MCSys01.MCD

All the files related to

Project

WorkQueues.dat

Robot configuration Stores connected Robot information.

Project related All the project files transferred to the

Controller. Includes program files when

EPSON RC+ 7.0 is configured to transfer source code to the Controller.

GlobalPreserves.dat Global Preserve variables

Saves values of Global Preserve variables.

Saves information of Queues information of the WorkQue.

WorkQue information

RC700 / RC700-A Rev.25 127

Maintenance 4. Backup and Restore

4.3 Backup

Backup the Controller status from the EPSON RC+ 7.0.

(1) Select EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog.

(2) Click the <Backup Controller…> button to display the [Browse For Folder] dialog.

CAUTION

(3) Specify the folder to save the backup data. Create a new folder if desired.

(4) Click the <OK> button. A folder is created in the specified folder containing the backup data with a name in the following format.

B_ RC700_ serial number_ date status was saved

→ Example: B_RC700_12345_2013-10-29-092951

■

Do not edit the backup files. Otherwise, operation of the robot system after data restoration to the Controller is not assured.

128 RC700 / RC700-A Rev.25

Maintenance 4. Backup and Restore

4.4 Restore

Restore the Controller status from the EPSON RC+ 7.0.

CAUTION

■

Make sure that the data used for restore was saved previously for same Controller.

■

Do not edit the backup files. Otherwise, operation of the robot system after data restoration to the Controller is not assured.

(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog.

(2) Click the <Restore Controller…> button to display the [Browse For Folder] dialog.

NOTE



(3) Specify the folder that contains the backup data. Backup data folders are named using the following format:

B_ RC700_ serial number_ date status was saved

→

Example: B_RC700_12345_2011-04-03_092941

Data saved to the USB memory by the Backup Controller function can also be specified for restore.

RC700 / RC700-A Rev.25 129

Maintenance 4. Backup and Restore

(4) Click the <OK> button to display the dialog to select the restore data.

Robot name, serial #, calibration

This checkbox allows you to restore the robot name, robot serial number, Hofs data, and CalPls data. Make sure that the correct Hofs data is restored. If the wrong Hofs data is restored, the robot may move to wrong positions.

The default setting is unchecked.

Robot maintenance configuration

This checkbox allows you to restore the robot alarm related files.

For details, refer to

Maintenance 6 Alarm

This is not checked by the default setting.

Project

This checkbox allows you to restore the files related to projects.

The default is unchecked.

When a project is restored, the values of Global Preserve variables are loaded.

For details about Global Preserve variable backup, refer to

EPSON RC+ 7.0 User’s

Guide 5.10.10 Display Variables Command (Run Menu)

Vision hardware configuration

This checkbox allows you to restore the vision hardware configuration.

For details, refer to

EPSON RC+ 7.0 option Vision Guide 7.0

This is not checked by the default setting.

Security configuration checkbox

This checkbox allows you to restore the security configuration.

For details, refer to

EPSON RC+ 7.0 User’s Guide 15. Security

This is not checked by the default setting.

Force Sensing I/F configuration

This checkbox allows you to restore the Force Sensing I/F configuration.

For details, refer to

EPSON RC+ 7.0 option Force Guide 7.0

This is not checked by the default setting.

(5) Click the <OK> button to restore the system information.

130 RC700 / RC700-A Rev.25

NOTE



Maintenance 4. Backup and Restore

Restore the system configuration saved using Backup Controller only for the same system.

When different system information is restored, the following warning message appears.

NOTE



NOTE



Click the <No> button (do not restore data) except for special situations such as

Controller replacement.

When restoring the backup which includes the data of the robot configured to the Drive

Unit, be sure to restore the data while the Drive Unit is connected and turned ON.

When restoring the backup including unsupported robot information to the target

Controller, an error occurs.

RC700 / RC700-A Rev.25 131

Maintenance 5. Firmware Update

5. Firmware Update

This chapter describes the firmware upgrade procedure and data file initialization when firmware or Robot configuration errors cause Controller startup or operation failure.

5.1 Updating Firmware

Firmware (software stored in non-volatile memory) and data files necessary to control the

Controller and the Robot are preinstalled in the Controller. Controller configuration set from EPSON RC+ 7.0 is always saved in the Controller.

Controller firmware is supplied by CD-ROM as needed. Please contact the supplier of your region for information.

You must use a PC running EPSON RC+ 7.0 connected to a Controller with USB to update the Controller firmware. Firmware cannot be updated with an Ethernet connection.

5.2 Firmware Upgrade Procedure

The firmware upgrade procedure is described as follows:

(1) Connect the development PC and the Controller with a USB cable (the firmware cannot be changed with an Ethernet connection).

(2) Turn ON the Controller. (Do not start the development software EPSON RC+ 7.0 until the firmware upgrade is completed.)

(3) Insert the “firmware CD-ROM” in the development PC CD-ROM drive.

(4) Execute “Ctrlsetup70.exe”. The following dialog appears.

(5) Select the <Upgrade> option button and click the <Next> button.

132 RC700 / RC700-A Rev.25

Maintenance 5. Firmware Update

(6) Make sure that the development PC is connected to the Controller with a USB cable and Click the <Next> button.

(7) Check the current firmware version and the new firmware version and click the

<Install> button.

NOTE



(8) The firmware upgrade starts. It takes several minutes to complete.

Do not disconnect the USB cable during transfer or turn OFF the Controller or the development PC.

(9) Continuous data file transfer starts.

RC700 / RC700-A Rev.25 133

Maintenance 5. Firmware Update

(10) The following dialog appears when transfer has completed. Click the <Next> button to reboot the Controller.

(11) The following dialog appears after the Controller reboot. Click the <Finish> button.

NOTE



The firmware upgrade is complete.

When you install the firmware (Ver.7.4.0.2 or later) on the Controller which the firmware (before

Ver.7.4.0.2) has been installed, the following message is displayed.

When the message is displayed, re-install the firmware.

134 RC700 / RC700-A Rev.25

Maintenance 5. Firmware Update

5.3 Controller Recovery

If the Controller becomes inoperable, use the procedures described in this section to recover.

NOTE



Controller Backup is recommended for easy recovery of the Controller operation. For details of Controller Backup, refer to

Maintenance 4. Backup and Restore

The following two conditions describe the Controller error status after turning ON the Controller.

Condition A The Controller automatically changes to Recovery mode and the LED of

ERROR, TEACH, and PROGRAM are lighting. You are able to communicate with the development PC though the Controller does not operate properly.

Condition B The LED of TEACH, AUTO, and PROGRAM do not blink.

Cannot communicate with the Controller using the development PC.

Countermeasure for the error status is as follows.

Condition A Follow

Maintenance 5.4

Firmware Initialization Procedure

to initialize the firmware.

Condition B Execute the following steps:

(1) Turn OFF the Controller.

(2) Push the trigger button located on the front side of the Controller and while holding the button in, turn ON the Controller. Continue to hold in the trigger button for 30 seconds. This will cause the Controller to start in Recovery mode.

(3) Make sure that the LED of ERROR, TEACH, and PROGRAM are lighting.

(4) Follow the procedure in

Maintenance 5.4 Firmware Initialization

Procedure

from step (3) to initialize the firmware.

RC700 / RC700-A Rev.25 135

Maintenance 5. Firmware Update

5.4 Firmware Initialization Procedure

The firmware initialization procedure described in this section.

(1) Connect the development PC to the Controller with a USB cable (the firmware cannot be changed with an Ethernet connection).

(2) Turn ON the Controller. Do not start the development software EPSON RC+ 7.0 until firmware initialization is complete.

(3) Insert the “firmware CD-ROM” in the development PC CD-ROM drive.

(4) Execute “Ctrlsetup.exe”.

(5) Select the <Initialize> option button and click the <Next> button.

(6) Make sure that the development PC is connected to the Controller with a USB cable and Click the <Next> button.

(7) Check the version information and click the <Install> button.

136 RC700 / RC700-A Rev.25

NOTE



Maintenance 5. Firmware Update

Firmware and data file transfer starts. It takes several minutes to complete.

Do not disconnect the USB cable during transfer or turn OFF the Controller or the development PC.

(8) The following dialog appears when transfer is completed. Click the <Next> button to reboot the Controller.

(9) The following dialog appears after the Controller reboot. Click the <Finish> button.

NOTE



The firmware upgrade is completed.

Start EPSON RC+ 7.0 and restore the Controller settings.

For details of restoring the operating system, refer to

Maintenance 4. Backup and Restore

When you install the firmware (Ver.7.4.0.2 or later) on the Controller which the firmware (before

Ver.7.4.0.2) has been installed, the following message is displayed.

RC700 / RC700-A Rev.25

When the message is displayed, re-install the firmware.

137

Maintenance 6. Alarm

6. Alarm

When the batteries (lithium batteries) for the Controller and the Manipulator drain, an alarm warning voltage reduction occurs. However, the alarm does not guarantee the battery lives until replacement, and it is necessary to replace the batteries immediately. If you run out the batteries, the robot parameters will be lost and recalibration of the robot will be required.

In addition, the parts for the Manipulator joints may cause accuracy decline or malfunction due to deterioration of the parts resulting from long term use. If the robot breaks down due to deterioration of the parts, it will take significant time and cost for repair.

The following sections describe the alarm function which announces the following maintenance timings in order to perform maintenance well ahead of time before the warning error.

The maintenance timings to be announced differ depending on the Controller firmware version.

Refer to the section according to the firmware version of your Controller.

Controller firmware Ver.

Before Ver.7.1.8.x

Ver.7.2.0.x or later

Maintenance items

- Controller battery replacement

- Robot battery replacement

- Grease up

- Controller battery replacement

- Robot battery replacement

- Grease up

- Replacement of the timing belt

- Replacement of the motor

- Replacement of the reduction gear unit

- Replacement of the ball screw spline unit

138 RC700 / RC700-A Rev.25

Maintenance 6. Alarm

6.1 Before Controller Firmware Ver.7.1.8.x

6.1.1 Alarm Configuration

The alarm can be configured to announce the maintenance timings of robot battery/grease, and Controller battery. Expiration time of the alarm is set one month prior to the maintenance timing if setting the parts replacement date or grease up timing.

CAUTION

 Make sure that the date and time on the Controller are set correctly. The alarm cannot function properly with improper date and time setting.



If the CPU board or CF is replaced, the alarm information may be lost. When you replaced these parts, confirm the date and time of the Controller and alarm information.

6.1.1.1 Robot Battery and Grease Up

When the robot is configured or changed, an alarm for the battery replacement and grease up will be configured automatically.

The following parts are subject to grease up:

6-axis robot: Bevel gear on the Joint #6

SCARA (including RS series): Ball screw spline unit on the Joint # 3

When the robot is deleted from the configuration, the alarm will also be automatically deleted.

For details on the robot configuration, refer to

the EPSON RC+ 7.0 User’s Guide 10.1

Setting the Robot Model



Changing of the robot should be done carefully. The alarm setting will be reset when the robot is changed.

CAUTION

NOTE



NOTE



NOTE



The first alarm for the robot battery replacement and grease up after purchase may occur earlier than originally scheduled.

If you are using the Controller with the firmware version before 7.1.0.x, the alarm information is not configured. In such case, edit the alarm information.

For details on the alarm information editing, refer to

Maintenance 6.1.3 How to Edit the

Alarm Information

The alarm information for the robot battery replacement and grease up depends on the

Controller where the robot is configured to. If the robot is replaced with the other robot with a different serial number, the alarm will not function properly. When you replace the robot, edit the alarm information.

For details on the alarm information editing, refer to

Maintenance 6.1.3 How to Edit the

Alarm Information

RC700 / RC700-A Rev.25 139

Maintenance 6. Alarm

6.1.1.2 Controller Battery

The Controller battery is automatically configured at the first connection with the EPSON

RC+7.0 after upgrading to the firmware version 7.1.0.x and later.

NOTE



If you are using the Controller before the version upgrade, there may be a difference in the alarm information. In such case, edit the alarm information. For details on the alarm information editing, refer to

Maintenance 6.1.3 How to Edit the Alarm Information

6.1.2 How to View the Alarm Information

The configured alarm information can be checked in the EPSON RC+ 7.0.

(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller

Tools] dialog box.

(2) Click the <Controller Alarms> button and display the [Controller Alarms] dialog box.

NOTE



There are three states of the alarm.

Display

Expired

Not set

Status

An alarm is configured. An alarm is not occurring.

An alarm is occurring. Replacement is required.

An alarm is not configured.

140 RC700 / RC700-A Rev.25

Maintenance 6. Alarm

6.1.3 How to Edit the Alarm Information

The configured alarm information can be edited in the EPSON RC+ 7.0.

(1) Select EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller

Tools] dialog box.

(2) Select the alarm to be changed and click the <Change> button.

(3) Display the [Change Alarm] dialog box and enter any of the followings.

Purchase or replacement date of the battery

Date of grease up

(4) Click the <OK> button and change the specified alarm information.

6.1.4 Alarm Notifying Method

The alarm notifying method needs to be configured by the output bit of the Remote I/O.

The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System

Configuration] - [Controller] - [Remote Control].

For details, refer to

the EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O

NOTE

 The Controller does not enter the error or warning state even if an alarm occurs.

RC700 / RC700-A Rev.25 141

Maintenance 6. Alarm

6.1.5 How to Cancel the Alarm

An alarm occurs when it reaches the set expiration time.

NOTE



There are following two methods to cancel the alarm.

- From the [Change Alarm] dialog box

- By the input bit of the Remote I/O

The alarm cannot be canceled by executing the Reset command or restarting the Controller.

6.1.5.1 Alarm Cancellation Dialog

The alarm can be canceled from the EPSON RC+ 7.0.

By referring to

Maintenance 6.1.3 How to Edit the Alarm

, change the alarm information in the same steps.

6.1.5.2 Remote Input

The alarm can be canceled by the input bit of the Remote I/O.

For details, refer to the EPSON

RC+ 7.0 User’s Guide 12.1 Remote I/O

142 RC700 / RC700-A Rev.25

Maintenance 6. Alarm

6.2 Controller Firmware Ver.7.2.0.x or later

NOTE



X5 series cannot use this function.

6.2.1 Maintenance

The recommended replacement time can be configured for the Controller batteries, robot batteries/grease, timing belts, motors, reduction gear units, and ball screw spline units.

CAUTION

NOTE



NOTE





Make sure that the date and time on the Controller are set correctly.

The maintenance cannot function properly with improper date and time setting.



If the CPU board or CF is replaced, the maintenance information may be lost.

When you replaced these parts, confirm the date and time of the Controller and the maintenance information.

Setting of the maintenance vary depending on installation methods to update from the firmware version 7.1.0.x or earlier to 7.2.0.x or later.

Initial installation : Maintenance is enabled.

Upgrade : Maintenance inherits the previous data.

(Disables as default)

For details for enabling or disabling the maintenance, refer to the

EPSON RC+ 7.0 User’s

Guide 5.12.2

[System Configuration] Command (Setup Menu) - [Setup]-[System

Configuration]-[Controller]-[Preferences] Page

Maintenance is enabled at shipment.

6.2.1.1 Robot Maintenance Information

If enabled, the maintenance information for the battery, timing belts, motors, reduction gear units, ball screw spline unit, and grease up will be configured automatically when the robot is configured or changed.

The following parts are subject to grease up:

SCARA (including RS series): Ball screw spline unit on the Joint # 3

When the robot is deleted from the configuration, the maintenance information will also be automatically deleted.

For details on the robot configuration, refer to

the EPSON RC+ 7.0 User’s Guide 10.1

Setting the Robot Model



Changing of the robot should be done carefully. The alarm setting will be reset when the robot is changed.

CAUTION

NOTE



If you are using the Controller with the firmware version before 7.1.0.x, the maintenance information is not configured. In such case, edit the information.

For details on the maintenance information editing, refer to

Maintenance 6.2.3 How to

Edit the Maintenance Information

RC700 / RC700-A Rev.25 143

Maintenance 6. Alarm

NOTE



The robot maintenance information depends on the Controller where the robot is configured to. If the robot is replaced with the other robot with a different serial number, the maintenance information will not function properly. When you replace the robot, edit the maintenance information.

For details on the maintenance information editing, refer to

Maintenance 6.2.3 How to Edit the Maintenance Information

6.2.1.2 Controller Maintenance Information

If the maintenance is enabled, the Controller battery is automatically configured at the first connection with the EPSON RC+7.0 after upgrading to the firmware version 7.2.0.x and later.

NOTE



If you are using the Controller before the version upgrade, there may be a difference in the maintenance information. In such case, edit the information. For details on the maintenance information editing, refer to

Maintenance 6.2.3 How to Edit the Maintenance

Information

6.2.2 How to View the Maintenance Information

The configured maintenance information can be checked in the EPSON RC+ 7.0 Ver.7.2.x or later.

(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller

Tools] dialog box.

(2) To check the Controller maintenance information, click the <Maintenance> button and display the [Maintenance] dialog box.

144 RC700 / RC700-A Rev.25

Maintenance 6. Alarm

(3) Select “General” or specify the axis from the tree to display information of the target parts.

NOTE



The recommended replacement time for the battery is calculated based on the battery capacity and the Controller ON time. The battery may run out if it passes the recommended replacement time.

The recommended replacement time for the grease is calculated based on the elapsed days since date of grease up. The replacement time may be shorter or longer depending on usage condition, such the load applied on the robot.

The recommended replacement time for the parts (timing belts, motors, reduction gear units, and ball screw spline unit) is when it reaches the L10 life (time until

10% failure probability). In the dialog window, the L10 life is displayed as

100%.

Remaining months is calculated based on the past operation conditions.

Enable to set the period for calculation by “HealthCalcPeriod” command. (Default: seven days of the Controller ON time)

Remaining months may not be calculated properly until the period for the calculation passed.

RC700 / RC700-A Rev.25 145

Maintenance 6. Alarm

6.2.3 How to Edit the Maintenance Information

The configured maintenance information can be edited in the EPSON RC+ 7.0 Ver.7.2.x or later.

(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller

Tools] dialog box.

(2) To edit the maintenance information, display the [Maintenance] dialog box.

(3) Select “General” or specify the axis from the tree to display information of the target parts.

(4) Select the alarm to be changed and click the <Change> button.

(5) Display the [Change Alarm] dialog box and enter any of the followings.

NOTE



Purchase or replacement date of the battery

Date of grease up

Purchase or replacement date of the timing belt

Purchase or replacement date of the motor

Purchase or replacement date of the reduction gear unit

Purchase or replacement date of the ball screw spline unit

(6) Click the <OK> button and change the specified alarm information.

The offset can be set for the consumption rate of already installed parts.

Follow the steps below to calculate a rough offset setting value.

1. Measure the usable months for the past operation by HealthRBAnalysis.

2. Confirm the past Motor ON time in the Controller status viewer.

3. Calculate a rough offset value with the following formula.

Offset=100 ×

Motor On time

30.4375

Usable months

For details, refer to the following manual.

EPSON RC+ 7.0 SPEL+ Language Reference

146 RC700 / RC700-A Rev.25

Maintenance 6. Alarm

6.2.4 Alarm Notifying Method

The Controller status becomes warning and displays warning message if any parts required to perform replacement or grease up.

For details, refer to the following manual.

Maintenance 9.1 Error Code Table

The alarm notifying method can be configured by the output bit of the Remote I/O.

The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System

Configuration] - [Controller] - [Remote Control].

For details, refer to

EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O

NOTE



The Controller enters the warning state if an alarm occurs.

6.2.5 How to Cancel the Alarm

An alarm occurs when the consumption rate of the parts reaches 100%.

NOTE



The alarm cannot be canceled by executing the Reset command or restarting the Controller.

The alarm can be canceled by following methods.

EPSON RC+ 7.0 [Maintenance] dialog box.

HealthCtrlReset Command

HealthRBReset Command

Refer to

Maintenance 6.2.3 How to Edit the Maintenance Information

to change the alarm information in the same steps.

RC700 / RC700-A Rev.25 147

Maintenance 7. Maintenance Parts Replacement Procedures

7. Maintenance Parts Replacement Procedures

WARNING

■

Before performing any maintenance procedure, always make sure that the main power of the Controller is turned OFF 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 is not discharged completely is extremely hazardous and may result in electric shock and/or cause serious safety problems.

■ When opening or closing the front side, make sure that the 200 V power supply for the Controller is OFF. Performing procedure to the power supply terminal block inside the Controller while the power supply is ON is extremely hazardous and may result in electric shock and/or cause serious safety problems.

Be careful not to damage cables. Be sure not to drop any screws into the Controller.

NOTE



Installing the front cover using the wrong screws may result in a cable being damaged and/or malfunction of the Controller.

7.1 Fan Filter

Inspect the fan filter periodically and clean it when needed. The temperature inside the

Controller may get too high and the Controller may not operate properly if the filter is not kept clean.

Fan Filter

Removal

(1) Turn OFF the Controller.

(2) Remove one screw of the fan filter.

RC700 RC700-A

Fan Filter

Installation

(3) Remove the fan filter cover.

(4) Detach the fan filter.

Clean the fan filter as needed.

(1) Set the fan filter to the fan filter cover.

(2) Mount the fan filter cover with the screw.

(3) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

148 RC700 / RC700-A Rev.25

Front Fan

Removal

Maintenance 7. Maintenance Parts Replacement Procedures

7.2 Fan

7.2.1 Front Fan

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Cover. (Mounting screw

(4) Remove the fan cable from the DMB-SUB.

Connector: CN22

(5) Remove the screws of the fan (

2).

(6) Remove the fan.

Front Fan

Installation

(1) Mount a new fan with two screws.

At this point, tighten the screws diagonally. Be careful of the mounting direction.

(2) Connect the fan cables to the DMB-SUB.

Connector: CN22

(3) Mount the Top Panel. (Mounting screw × 6)

(4) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

* Pay attention to the right and wrong sides of the fan when installing it.

RC700 / RC700-A Rev.25 149

Maintenance 7. Maintenance Parts Replacement Procedures

7.2.2 Regenerative Fan (RC700-A only)

The regenerative fan is installed only in RC700-A.

Regenerative Fan removal

(RC700-A only)

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Cover. (Mounting screw × 6)

(4) Remove the cable tie binding the 15 V power supply cable and fan cable.

(5) Remove the fan extension connector.

(6) Remove the regenerative module connector from the DMB.

(7) Remove the regenerative module connector from the DPB.

(8) Remove the rear plate from the body.

(Mounting screw

(9) Remove the regenerative resistance from the rear plate.

(Mounting screw × 4)

(10) Remove the fan from the fan fixing plate.

(Mounting screw

150 RC700 / RC700-A Rev.25

Maintenance 7. Maintenance Parts Replacement Procedures

Regenerative Fan

Installation

(RC700-A only)

(1) Fix the new fan to the fan fixing plate. (Mounting screw × 2)

At this point, tighten the screws diagonally. Be careful of the mounting direction.

(2) Mount the regenerative resistance to the rear plate. (Mounting screw

Be careful of the mounting direction.

(3) Mount the rear plate to the body. (Mounting screw

(4) Connect the regenerative module connector to the DMB.

(5) Connect the regenerative module connector to the DPB.

(6) Connect the fan extension connector.

(7) Bind the 15 V power supply cable and fan cable. by the cable tie (AB150).

110 mm

Leave 110 mm from the end of the cable tie in order not to tighten the cables too much.

Cut the excess part of the tie.

(8) Mount the Top Panel. (Mounting screw × 6)

(9) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

* Pay attention to the right and wrong sides of the fan when installing it.

RC700 / RC700-A Rev.25 151

Maintenance 7. Maintenance Parts Replacement Procedures

7.3 Battery

CAUTION

■

Use meticulous care when handling the lithium battery. Improper handling of the lithium battery as mentioned below is extremely hazardous, may result in heat generation, leakage, explosion, or inflammation, and may cause serious safety problems.

・

Battery Charge

Disassembly

Incorrect Installation

・

Deformation by Pressure

・

Short-circuit (Polarity; Positive/Negative)

・

Heating (85

C or more)

・

Soldering the terminal of the lithium battery directly

・

Exposing to Fire

・

Forced Discharge

■ Be sure to use the battery supplied as maintenance part from EPSON (Refer to

10. Maintenance Parts List).

■ When disposing of the battery, consult with the professional disposal services or comply with the local regulation.

Spent battery or not, make sure the battery terminal is insulated. If the terminal contacts with the other metals, it may short and result in heat generation, leakage, explosion, or inflammation.

NOTE



Turn ON the Controller for approximately one minute before replacing the battery.

Finish the replacement within 10 minutes to prevent data loss.

Battery

Removal

(1) Backup the Controller data.

Refer to

Maintenance 4. Backup and Restore

(2) Turn OFF the Controller.

(3) Disconnect the power plug.

(4) Remove the battery bracket. (Mounting screw

RC700 RC700-A

(5) Pull out the battery bracket.

(6) Disconnect the battery cable.

(7) Remove the battery straight upward.

152 RC700 / RC700-A Rev.25

Maintenance 7. Maintenance Parts Replacement Procedures

Battery

Installation

(1) Set a new battery.

NOTE



Secure the battery with the mounting tab.

(2) Connect the battery cables.

(3) Insert the battery bracket and secure it with the screws. (Mounting screw

(4) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

RC700 / RC700-A Rev.25 153

Maintenance 7. Maintenance Parts Replacement Procedures

7.4 CF (Compact Flash)

CF Removal (1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw

(4) Remove the connector (CN39).

(5) Remove the CF mounting screw and the rubber.

(6) Pull the CF toward the direction of the arrow in the picture.

(5)

(4)

CF Installation (1) Insert a new CF toward the opposite direction of the arrow in the picture above.

(2) Tighten the CF mounting screw (

1) and the rubber.

(3) Connect the connector (CN39).

(4) Mount the Top Panel. (Mounting screw × 6)

(5) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

154 RC700 / RC700-A Rev.25

Maintenance 7. Maintenance Parts Replacement Procedures

7.5 MDB

MDB identification method

There are types of the MDB and it can be identified by “Assy. No.” or “MDB type” printed on the board.

Assy.No.

MDB type

Controller

RC700

RC700-A

Manipulator

RC700-A

C12

Controller Manipulator

RC700-A

Controller Manipulator

RC700-A

G10

G20

Joint #1, #2

15A/15A

2149935**

15A/15A-2

2166640**

2171936**

50A/30A

2169285**

Joint #3, #4 Joint #5, #6

10A/10A

2145517**

2157372**

10A/10A

2145517**

2157372**

15A/15A-2 10A/10A

2166640**

2171936**

2145517**

2157372**

Joint #1, #5

30A/5A

2186906**

Joint #1, #2

Joint #3, #4

5A/5A

2175610**

15A/5A

2186907**

10A/10A

2145517**

2157372**

15A/15A-2

2166640**

2171936**

30A/30A

2146123**

2153723**

Joint #2, #6

30A/5A

2186906**

Joint #3, #4

10A/10A

2145517**

2157372**

15A/15A-2

2166640**

2171936**

Remarks

MDB type

Assy. No.

MDB type

Assy. No.

MDB type

Assy. No.

Remarks

MDB type

Assy. No.

MDB type

Assy. No.

Remarks

MDB type

Assy. No.

MDB type

Assy. No.

MDB type

Assy. No.

RC700 / RC700-A Rev.25 155

Maintenance 7. Maintenance Parts Replacement Procedures

MDB

Removal

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw × 6)

NOTE



(4) Remove the output cables of each axis of the MDB.

Before removing the cables, check positions of the boards and the cables. Install them to the same positions after the replacement.

(5) Remove the MDB clamp 1.

(Mounting screw

(6) Remove the MDB clamp 2.

(Mounting screw × 2)

NOTE



(7) Pull out the MDBs in the direction shown in the picture.

When removing the MDBs, make sure to remember the position of each board. Install the boards to the same positions after replacement.

(8) Remove the MDB clamp 3.

(Mounting screw × 2)

156 RC700 / RC700-A Rev.25

MDB

Installation

Maintenance 7. Maintenance Parts Replacement Procedures

(1) Install the MDB clamp 3.

(Mounting screw

NOTE



(2) Insert the MDBs in the direction shown in the picture.

Be careful not to misplace the boards.

(3) Install the MDB clamp 2.

(Mounting screw × 2)

Set the MDB clamp so that the grooves fit to MDBs.

(4) Mount the MDB clamp 1.

(Mounting screw × 5)

NOTE



(5) Mount the output cable of each axis of the MDBs.

When mounting the output cables, make sure that the numbers on the MDB clamp 1 and on the connectors are the same.

(6) Mount the Top Panel. (Mounting screw

(7) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

RC700 / RC700-A Rev.25 157

Maintenance 7. Maintenance Parts Replacement Procedures

7.6 DMB

DMB

Removal

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw

(4) Remove the cables connected to the following connectors.

M/C Signal Connector EMERGENCY Connector

TP Connector

USB Memory

I/O Connector

R-I/O Connector

USB Connector

Ethernet Connector

RS-232C Connector

DU OUT Connector

(5) Remove the MDBs.

Refer to

Maintenance: 7.5 MDB

(6) Remove the DMB-OPTION board.

(Mounting screw × 3)

(7) Remove five screws on the side of the chassis.

(8) Remove the fixing plate of the DMB-OPTION board.

158 RC700 / RC700-A Rev.25

Maintenance 7. Maintenance Parts Replacement Procedures

(9) RC700: Remove the five connectors from the DMB.

RC700-A: Remove the twelve connectors from the DMB.

(10) Remove the DMB mounting screws (

14).

(11) Remove the fan.

Refer to

Maintenance: 7.2 Fan

(12) Remove the DMB from the chassis.

At this point, be careful not to touch the chassis and other parts.

(13) Remove the plate fixing the connectors on the front side from the DMB and the DMB-

SUB boards.

RC700

RC700-A

(14) Remove the DMB-SUB board from the DMB.

(Mounting screw × 3)

RC700 / RC700-A Rev.25 159

Maintenance 7. Maintenance Parts Replacement Procedures

DMB

Installation

(1) Install the DMB-SUB board to the new DMB. (Mounting screw × 3)

(2) Install the plate that secures the connectors on the front side to the DMB and the DMB-

SUB boards.

(3) Insert the DMB into the chassis.

At this point, be careful not to touch the chassis and other parts.

(4) Mount the fan.

Refer to

Maintenance: 7.2 Fan

(5) Tighten the DMB mounting screw ( × 14).

(6) RC700: Connect the five connectors to the DMB.

RC700-A: Connect the twelve connectors to the DMB.

(7) Mount the fixing plate of the DMB-OPTION board.

160 RC700 / RC700-A Rev.25

Maintenance 7. Maintenance Parts Replacement Procedures

(8) Mount the five screws on the side of the chassis.

(9) Mount the DMB-OPTION board.

(Mounting screw × 3)

(10) Mount the MDB.

Refer to

Maintenance: 7.5 MDB.

(11) Install the cables to the following connectors.

M/C Signal Connector EMERGENCY Connector

TP Connector

USB Memory

I/O Connector

R-I/O Connector

USB Connector

Ethernet Connector

RS-232C Connector

DU OUT Connector

(12) Mount the Top Panel. (Mounting screw

(13) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

RC700 / RC700-A Rev.25 161

Maintenance 7. Maintenance Parts Replacement Procedures

7.7 DMB-SUB Board

DMB-Sub Board

Removal

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw × 6)

(4) Remove the cables from the DMB-SUB board.

RC700 RC700-A

(5) Remove the screws fixing the DMB-SUB board to the front side plate.

RC700

RC700-A

(6) Remove the DMB-SUB Board from the DMB.

(Mounting screws

DMB-Sub Board

Installation

(1) Mount the plate that secures the connectors on the front side to the DMB-SUB board.

(2) Mount the DMB-SUB Board to the DMB. (Mounting screws

(3) Connect the cables to the DMB-SUB Board.

(4) Mount the Top Panel. (Mounting screw

(5) Set the Encoder Voltage Adjustment Switch.

Set the Encoder Voltage Adjustment Switch according to the length of the M/C cable.

Refer to:

Setup & Operation 2. Part Names and Functions

(14) Encoder Voltage Adjustment Switch

(6) Connect the power plug. Turn ON the Controller and make sure that the Controller starts properly without any vibration or abnormal noise.

162 RC700 / RC700-A Rev.25

7.8 DMB-LED Board

DMB-LED Board

Removal

(RC700)

Maintenance 7. Maintenance Parts Replacement Procedures

7.8.1 DMB-LED Board (RC700)

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw × 6)

(4) Disconnect the cables connected to the DMB-LED board.

(5) Remove the DMB-LED board. (Mounting screw

DMB-LED Board

Installation

(RC700)

(1) Mount the DMB-LED board. (Mounting screw

(2) Connect the cables to the DMB-LED board.

(3) Mount the Top Panel. (Mounting screw

× 2)

(4) After connecting the power plug, turn ON the Controller and check it works normally without vibration and abnormal sound.

RC700 / RC700-A Rev.25 163

Maintenance 7. Maintenance Parts Replacement Procedures

7.8.2 DMB-LED Board (RC700-A)

DMB-LED Board

Removal

(RC700-A)

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw

(4) Remove the DMB-LED board from the front panel.

(Mounting screw

(5) Remove the ferrite core from the Support plate.

(Mounting screw

(6) Disconnect the cables connected to the DMB-LED board.

(7) Remove the DMB-LED board from the support plate.

(Nut

(8) Remove the stud bolt from the DMB-LED board.

(Stud bolt

(7)

(5)

(7)

DMB-LED Board

Installation

(RC700-A)

(1) Mount the stud bolt to the DMB-LED board. (Stud bolt × 4)

(2) Mount the DMB-LED board to the support plate. (Nut

(3) Connect the cable to the DMB-LED board.

(4) Mount the ferrite core to the support plate. (Mounting screw

(5) Mount the DMB-LED board to the front panel. (Mounting screw × 4)

(6) Mount the Top Panel. (Mounting screw

(7) After connecting the power plug, turn ON the Controller and check it works normally without vibration and abnormal sound.

164 RC700 / RC700-A Rev.25

Maintenance 7. Maintenance Parts Replacement Procedures

7.9 DPB

DPB

Removal

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw

(4) Remove the MDB.

Refer to: Maintenance 7.5 MDB

(5) Remove the MDB clamp 3.

(Mounting screw

(6) Remove eight connectors from the DPB.

(7) RC700-A only:

Remove the regenerative fan extension connector.

(8) RC700-A only:

Remove the rear plate from the body.

(Mounting screw × 5)

(9) Remove the DPB mounting screws.

(10) Remove the DPB from the chassis.

RC700 / RC700-A Rev.25 165

Maintenance 7. Maintenance Parts Replacement Procedures

DPB

Installation

(1) Insert the DPB to the chassis.

(2) Fix the DPB with screws.

(3) RC700-A only: Mount the rear plate. (Mounting screw × 5)

(4) RC700-A only: Connect the regenerative fan extension connector.

(5) Connect the eight connectors to the DPB.

(6) Mount the MDB clamp 3. (Mounting screw

(7) Mount the DMB.

Refer to: Maintenance 7.6 DMB

(8) Mount the top plate. (Mounting screw × 6)

(9) After connecting the power plug, turn ON the Controller and check it works normally without vibration and abnormal sound.

166 RC700 / RC700-A Rev.25

7.10 Option Board

RC700

Maintenance 7. Maintenance Parts Replacement Procedures

RC700-A

Option Board

Addition

Option Slot

(1) Turn OFF the Controller.

(2) Disconnect the power plug.

(3) Remove the Top Panel. (Mounting screw × 6)

(4) Remove the screws of the Option Slot Panels.

Remove as many Option Panels as the Option

Boards to add.

(5) Mount the L-shaped plate to the Option Board.

Option Slot

(6) Install the Option Board as shown in the picture.

Insert the board to the Option Slot.

(in the direction of an arrow)

(7) Mount the attachment L-shaped plate with a screw from the front side.

At this point, one screw for the Option Slot Panel is left unused.

(8) Mount the Top Panel. (Mounting screws

RC700 / RC700-A Rev.25

(9) After connecting the power plug, turn ON the Controller and check it works normally without vibration and abnormal sound.

167

Maintenance 8. Verifying Robot System Operation

8. Verifying Robot System Operation

When maintenance has been performed for either the Manipulator or the Controller, including replacing any parts in those units, items must be checked according to the procedures in this section to ensure proper operation.

(1) Connect all the necessary cables for the system.

WARNING

■ When verifying the robot system operation, prepare for failures with initial settings or wiring. If the Manipulator operates abnormally because of incorrect initial settings or wiring, press the Emergency Stop switch immediately to stop the

Manipulator.

Verify the robot system operation in the restricted mode (low speeds and low power) status. Verifying the robot system operation at high speeds may damage the robot system and/or cause serious safety problems as the Manipulator cannot stop operating immediately in case of abnormal operation of the Manipulator.

CAUTION

■ 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 function of the robot system but also serious safety problems.

(2) Check the LED status during the time from the Controller is turned ON until the

Controller boots up by referring to the list below.

LED

From power-on to boot

All blink

While running

LED for current operation mode

( TEST , TEACH, AUTO, PROGRAM) turns ON.

READY (Normal)

7 segment All lights out

Emergency Stop

Safeguard

Four digits Error

For details of the display, refer to

Setup & Operation 2.1.1 LED and Seven-segment

LED

For error numbers, refer to

Maintenance 9.1 Error Code Table

(3) Execute MOTOR ON and check the following:

- No error is displayed.

- There is servo excitation and the Manipulator operates normally.

(4) Execute various motion commands (such as JUMP, etc.). The Manipulator must operate accordingly and normally without vibration or unusual sounds.

168 RC700 / RC700-A Rev.25

9. Troubleshooting

9.1 Error Code Table

No.

Message

Controller control program started.

Termination due to low voltage of the power supply.

Controller control program has completed.

Preserve variables save area has been cleaned.

Function Main started.

Function Main started. Later same logs are skipped.

Serial number has been saved.

System backup has been executed.

System restore has been executed.

Robot parameters have been initialized.

Offset pulse value between the encoder origin and the home sensor

(HOFS) is changed.

Message saving mode activated.

Uncommon event.

Conversion of Robot Parameter file has been executed.

19 DU firmware has been installed.

Enable setting in Teach mode has been saved.

Enable setting in Teach mode has been changed.

Maintenance 9. Troubleshooting

Remedy

Stores this log when the controller is rebooted from EPSON RC+ or TP1.

Skip the log "Function Main started." to prevent system history space run out.

Note 1

Value after change

Note 2

Value before change

23 EStop has been executed.

24 Safeguard has opened.

25 Robot setting has changed.

26 Alarm setting has changed.

The battery alarm for the controller was reset.

The battery alarm for the robot was reset.

The grease alarm for the robot was reset.

100 Device connected to Controller.

101 Console device has changed.

Robot number executing motion command

Alarm number

Robot number

20: TP3

21:RC+

22:Remote

I/O

26: Remote

Ethernet

29: Remote

RS232

Controller status

Robot number

RC700 / RC700-A Rev.25 169

Maintenance 9. Troubleshooting

No. Message

102 Display device has changed.

103 Working mode has changed.

104

Cooperative mode has changed.

Remedy Note 1

Independent

Cooperative

1: Setup

2: Initialize

3: Upgrade

4: Recover

1: Ethernet

2: USB

Note 2

110 Controller firmware has been installed. -

111 IP address has been restored.

112 Controller rebooted

120 RC+ connected to the Controller. -

121 TP connected to the Controller. -

123 RC+ disconnected from the Controller. -

124 TP disconnected from the Controller.

126 Working mode changed to AUTO.

127 Working mode changed to Program.

128 Working mode changed to Teach.

May store this log when the controller firmware is installed.

Logout status

0: Normal

1: Abnormal

(Time-out)

133 Working mode changed to Test.

400

401

410

411

The battery alarm for the controller occurred. Replace the battery and reset the alarm.

The battery alarm for the robot occurred. Replace the battery and reset the alarm.

The battery alarm for the controller occurred. Replace the battery and reset the alarm.

The battery alarm for the robot occurred. Replace the battery and reset the alarm.

413

The grease alarm for the ball screw spline occurred. Grease the ball screw spline units and reset the alarm.

Replace the battery and reset the alarm.

Grease the robot and reset the alarm.

Replace the battery.

After replacing the battery, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Replace the battery.

After replacing the battery, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[ Maintenance].

Replace the timing belt.

After replacing the timing belts, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Grease up the ball screw spline.

After greasing up, reset the alarm in

EPSON RC+ 7.0-[Tools]-[Controller]-

[Maintenance].

Robot number

1000 times of consumpti on rate

1000 times of boundary value

170 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

416

The ball screw spline alarm occurred.

Replace the ball screw spline and reset the alarm.

420

421

423

426

503

The ball screw spline alarm occurred.

Replace the ball screw spline and reset the alarm.

Found Hard disk error.

You should replace the hard disk

ASAP.

Message

The battery alarm for the controller occurred. Replace the battery and reset the alarm.

The battery alarm for the robot occurred. Replace the battery and reset the alarm.

The grease alarm for the ball screw spline occurred. Grease the ball screw spline and reset the alarm.

501 Trace history is active.

502 Memory has been initialized.

505 Controller was rebooted.

Remedy

Replace the motor.

After replacing the motor, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Replace the gear units.

After replacing the gear units, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Replace the ball screw spline.

After replacing the ball screw spline, reset the alarm in EPSON RC+ 7.0-

[Tools]-[Controller]-[Maintenance].

Replace the battery.

After replacing the battery, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Replace the battery.

After replacing the ball screw spline, reset the alarm in EPSON RC+ 7.0-

[Tools]-[Controller]-[Maintenance].

Replace the timing belt.

After replacing the timing belts, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Grease up the ball screw spline.

After greasing up, reset the alarm in

EPSON RC+ 7.0-[Tools]-[Controller]-

[Maintenance].

Replace the motor.

After replacing the motor, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Replace the gear units.

After replacing the gear units, reset the alarm in EPSON RC+ 7.0-[Tools]-

[Controller]-[Maintenance].

Replace the ball screw spline.

After replacing the ball screw spline, reset the alarm in EPSON RC+ 7.0-

[Tools]-[Controller]-[Maintenance].

Effects system performance if trace history is active.

When this error occurs, the value of the Global Preserve variable will be initialized.

Replace the CPU board battery.

Replace the CPU board.

This is a warning of the hard disk failure. Replace the hard disk as soon as possible.

Make sure there are no problems in the system and continue the operation.

Note 1

1000 times of consumpti on rate

Note 2

1000 times of boundary value

RC700 / RC700-A Rev.25 171

Maintenance 9. Troubleshooting

No. Message

507

511

513

520

523

524

The controller is started by using the previous initial setting file since the initial setting file is corrupted. Check the settings.

Battery voltage of the CPU board backup is lower than the allowed voltage. Replace the CPU board battery.

24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

DC input voltage for the CPU board is lower than or bigger than the allowed voltage.

DU1 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

DU1 Internal temperature of the

Controller is higher than the allowed temperature.

Remedy

Setting changes from the previous start may not be saved. Please check the settings.

Note 1 Note 2

Replace the CPU board battery immediately. Keep the power to the controller ON as far as possible until you replace the battery.

If normal voltage is not generated by a

5V power supply alone, replace the power supply.

If normal voltage is not generated by a

24V power supply alone, replace the power supply.

Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high.

Check whether the filter is not clogged up.

Check whether the filter is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan.

If normal voltage is not generated by a

54V power supply alone, replace the power supply.

If normal voltage is not generated by a

3.3V power supply alone, replace the power supply.

If normal voltage is not generated by a

DC power supply alone, replace the power supply.

Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high.

Check whether the filter is not clogged up.

If normal voltage is not generated by

3.3V of Drive Unit 1 power supply alone, replace the power supply.

If normal voltage is not generated by

5V of Drive Unit 1 power supply alone, replace the power supply.

If normal voltage is not generated by

24V of Drive Unit 1 power supply alone, replace the power supply.

Stop Drive Unit 1 as soon as possible and check whether the ambient temperature of Drive Unit 1 is not high.

Check whether the filter is not clogged up.

100 times of current value

Current value

100 times of current value

100 times of boundary value

Boundary value

100 times of current value

100 times of boundary value

100 times of current value

100 times of boundary value

100 times of current value

100 times of boundary value

172 RC700 / RC700-A Rev.25

No. Message

533

DU2 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

534

DU2 Internal temperature of the

Controller is higher than the allowed temperature.

543

DU3 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

544

DU3 Internal temperature of the

Controller is higher than the allowed temperature.

550

Communication with the Compact

Vision is disconnected. Check the network wiring.

Maintenance 9. Troubleshooting

Remedy

Check whether the filter of Drive Unit 1 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan.

If normal voltage is not generated by

3.3V of Drive Unit 2 power supply alone, replace the power supply.

If normal voltage is not generated by

5V of Drive Unit 2 power supply alone, replace the power supply.

If normal voltage is not generated by

24V of Drive Unit 2 power supply alone, replace the power supply.

Stop Drive Unit 2 as soon as possible and check whether the ambient temperature of Drive Unit 2 is not high.

Check whether the filter is not clogged up.

Check whether the filter of Drive Unit 2 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan.

If normal voltage is not generated by

3.3V of Drive Unit 3 power supply alone, replace the power supply.

If normal voltage is not generated by

5V of Drive Unit 3 power supply alone, replace the power supply.

If normal voltage is not generated by

24V of Drive Unit 3 power supply alone, replace the power supply.

Stop Drive Unit 3 as soon as possible and check whether the ambient temperature of Drive Unit 3 is not high.

Check whether the filter is not clogged up.

Check whether the filter of Drive Unit 3 is not clogged up. If the warning is not cleared after the controller is rebooted, replace the fan.

Note 1

Current value

Boundary value

Current value

100 times of current value

Current value

100 times of current value

Note 2

Boundary value

100 times of boundary value

Boundary value

100 times of boundary value

100 times of current value

100 times of boundary value

Current value

Boundary value

Current value

Boundary value

Check the connection between the controller and the compact vision.

Camera No.

RC700 / RC700-A Rev.25 173

Maintenance 9. Troubleshooting

No. Message

551

552

555

556

559

Compact Vision CPU fan RPM has decreased. Clean the fan filter and / or replace the fan.

Compact Vision CPU temperature is too high. Check the installation environment (ventilation, ambient temperature, etc.)

Compact Vision process was terminated abnormally. Restart the

Compact Vision unit.

561

562

563

Compact Vision available disk space is low. Reduce the number of objects that use models (Geometric,

Correlation, DefectFinder, etc.)

A critical hardware error occurred in the Compact Vision unit. Check the hardware condition such as internal wiring.

Remedy

Check whether the fan filter of the compact vision is not clogged up.

If the warning is not cleared after the controller and the compact vision are rebooted, replace the CPU fan.

Replace the CPU fan of the compact vision.

Check whether the fan filter of the compact vision is not clogged up.

If the warning is not cleared after the controller and the compact vision are rebooted, replace the system fan.

Replace the system fan of the compact vision.

Check whether the fan filter of the compact vision is not clogged up.

If the warning is not cleared after the controller and the compact vision are rebooted, check the installation environment (surrounding space, ambient temperature) of the compact vision.

Check whether the fan filter of the compact vision is not clogged up.

If the warning is not cleared after the controller and the compact vision are rebooted, check the installation environment (surrounding space, ambient temperature) of the compact vision.

Replace the backup battery of the compact vision.

If the warning is not cleared after the controller and the compact vision are rebooted, initialize the compact vision.

Check the vision sequence if it has unnecessary models which can be reduced. Consider to use the USB memory.

If the warning is not cleared after the controller and the compact vision are rebooted, initialize the compact vision.

Note 1 Note 2

Camera No. Current value

Camera No.

1000 times of current value

Camera No. Current value

Camera No.

If the warning is not cleared after the controller and the compact vision are rebooted, replace the LED/SW board.

Camera No.

174 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No. Message Remedy

PTP motion for the singularity avoidance was completed.

Clicking the same jog button will operate the robot in the normal jog motion.

Move the manipulator to the direction avoiding collision

The robot could not jog in the CP motion (default).

Clicking the same jog button will operate the robot in the PTO motion.

Note 1

700

Motor driver type does not match the current robot model. Check the robot model. Replace the motor driver.

Check the robot model.

Note 2

752 Servo alarm D.

Reboot the controller.

Turn OFF the controller and replace the battery.

For the battery replacement procedure, refer to

Maintenance

in the

Manipulator manual.

RC700 / RC700-A Rev.25 175

Maintenance 9. Troubleshooting

No. Message Remedy

1001

Operation Failure.

Command parameter is invalid.

1002

Requested data cannot be accessed. The data is not set up or the range is invalid.

1003 The password is invalid

1004

Cannot execute with unsupported version.

Check whether the target I/O, variables, and tasks exist.

Enter the correct password.

Use the correct version file.

1005

1006

Cannot execute with invalid serial number.

Cannot execute with invalid Robot model.

Use the backup data for the same controller to restore the controller configuration.

1007

1010

1011

1012

1013

1014

Cannot execute with invalid

Controller.

Remote setup error.

Cannot assign R-IO input number to remote input.

Remote setup error.

Cannot assign a bit number which does not exist to a remote I/O signal.

Check the fieldbus slave size.

Remote setup error.

Cannot assign a bit number which does not exist to a remote I/O signal.

Check the fieldbus master size.

Fieldbus slave failure.

Cannot change the size because it currently includes a remote I/O signal.

Fieldbus master failure. Cannot change the size because it currently includes a remote I/O signal.

Use the supported installer.

Specify the input number excluding the R-IO input number.

Check the fieldbus slave size.

Check the fieldbus master size.

1015

Remote setup error. Cannot assign

Hand-IO input/output number to remote input.

1020 Cannot execute in recovery mode. Boot the controller as normal.

1021

Cannot execute due to controller initialization failure.

Restore the controller configuration.

1022

1023

Cannot execute without the project being open.

Cannot execute while the project is open.

1024 Cannot activate from remote.

1025

1026

Execution in Teach mode is prohibited.

Cannot execute in Teach mode except from TP.

Open a project.

Rebuild the project.

Enable the remote input.

Change to the AUTO mode.

1027 Cannot execute in Auto mode.

1028

Cannot execute in Auto mode except from the main console.

1029 Cannot execute from OP.

Change to the Program mode.

Enable the OP input.

176

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

1030

1031

1032

1033

Message

Does not allow Operation mode to be changed.

Cannot execute while tasks are executing.

Cannot execute while the maximum number of tasks are executing.

Cannot execute during asynchronous motion command.

Remedy

Change to the Auto mode with a console in the Program mode.

Stop the task and then execute.

Execute after the motion ends.

1034

1035

1037

1039

Asynchronous command stopped during operation.

Cannot execute when Remote I/O enabled except from the remote device.

Cannot execute when Remote

Ethernet enabled except from the remote Ethernet device.

Execution is prohibited.

The asynchronous command already stopped when the controller received a stop command.

The command cannot be executed by the console except the remote I/O when AutoMode output of the remote

I/O is ON.

The command cannot be executed by the console except the remote

Ethernet when Auto flag of the remote Ethernet is ON.

Prohibited command was executed while executing the program.

Stop the program, and then execute the command.

1041

1042

1043

1044

1045

Input waiting condition is the only available condition to input.

The controller received an input while it was not in the Input waiting condition.

1046 Cannot execute during file transfer. Execute after the file transmission.

1047

Cannot cancel the command executed from other devices.

Cancel the motion command from the device the command was issued from.

1048

1049

Cannot execute after low voltage was detected.

Other devices are in program mode.

Reboot the controller.

Check connection of other devices.

1050

1051

1052

Password is too long.

Export Controller Status failed.

Export Controller Status busy.

Enter the password that is less than

16 characters.

Retry using the same USB memory.

Retry using another USB memory.

Retry after rebooting the controller.

Execute the command after completing the controller status backup.

1053

Cannot execute during Emergency

Stop status.

Cannot execute while the safeguard is open.

Cannot execute during error condition.

Cannot execute when the remote pause input is ON.

Execution in Test mode is prohibited

Cancel the Emergency Stop status.

Close the safeguard.

Cancel the error condition.

Change the remote pause input to

OFF.

Execute in other modes.

Note 1 Note 2

RC700 / RC700-A Rev.25 177

Maintenance 9. Troubleshooting

No.

1054

1055

Message

Cannot execute in TEST mode except from TP.

Cannot execute the Background

Task.

1056 Cannot execute from OP.

1057

Cannot execute when TP3 enabled except from the TP3.

1058

Cannot execute excluding T2 mode.

1059

1100

1102

1114

1120

1121

1122

1123

1124

1126

1127

Cannot change to T2 mode.

File failure. Cannot access the file.

File failure. Read and write failure of the registry

1103 File is not found.

1104 Project file was not found.

1105 Object file was not found.

1106 Point files were not found.

1107

The program is using a feature that is not supported by the current controller firmware version.

1108

One or more source files are updated. Please build the project.

1109 Not enough storage capacity.

1110 File is not found.

1111 Conveyor file was not found.

1112

Force files were not found.

Rebuild the project.

Cannot create the project in the controller.

File failure.

Setting file is corrupt.

File failure.

Project file is corrupt.

File failure.

Point file is corrupt.

File failure.

I/O label file is corrupt.

File failure.

User error file is corrupt.

File failure.

Software option information is corrupt.

File failure.

Vision file is corrupt.

Remedy

Confirm that no background task is running.

Rebuild the project.

Enable the TP3 input.

The command cannot be executed from other consoles when TP3 is enabled.

Switch to <Teach/T2> key.

T2 mode cannot be used on RC700-

A Controllers complying with UL standards.

Reboot the controller.

Reinstall the firmware.

Replace the CF.

Reboot the controller.

Replace the CF.

Check whether the file exists.

Rebuild the project.

Check the compiler version in the

EPSON RC+ 7.0-[Project]-

[Properties]-[Compiler].

Rebuild the project.

Increase free space of the USB memory.

Rebuild the project.

There is a possibility that the folder is full or the project name is duplicated.

Check it by the application selection.

Restore the controller configuration.

Rebuild the project.

Reboot the controller.

Reinstall the firmware.

Reconfigure the option.

Rebuild the project.

Note 1 Note 2

178 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

1128

1130

Message

File failure.

Backup information file is corrupt.

Error message failure.

No item is found in the error history.

1131 Cannot access the USB memory.

Remedy

The specified backup information cannot be restored.

Acquire the backup information again, and then restore the file.

No error history exists.

Reboot the controller.

Insert the USB memory properly.

When this error still occurs after the

USB memory is inserted properly, the memory may be unrecognizable to controller. Insert another memory to check the operation.

- 1132

1133

1134

1138

1140

1141

File failure.

Failed to copy the file.

File failure.

Failed to delete the file.

File failure.

GUI Builder file is corrupt.

File failure. Force Guide file is corrupt.

File failure.

Failed to open the object file.

File failure.

Failed to open the project file.

File failure.

Failed to read the project file.

Rebuild the project.

1142

1143

1144

File failure.

Failed to open the condition save file.

File failure.

Failed to write the condition save file.

Rebuild the project.

Retry using the same USB memory.

Retry using another USB memory.

Retry after rebooting the controller.

Retry using the same USB memory.

Retry using another USB memory.

Retry after rebooting the controller.

Rebuild the project. 1145

1146

1150

1151

1152

1153

1155

1156

1157

File failure.

Failed to open the conveyor file.

File failure.

Failed to read the conveyor file.

File failure.

Error history is invalid.

File failure.

Failed to map the error history.

File failure.

Failed to open the error history file.

File failure.

Failed to write the error history file.

File failure.

Failed to open the settings file.

File failure.

Failed to save the settings file.

File failure.

Failed to read the settings file.

RC700 / RC700-A Rev.25

Rebuild the project.

Reboot the controller.

Replace the CF.

Reboot the controller.

Replace the CF.

Reboot the controller.

Replace the CF.

Reboot the controller.

Replace the CF.

Restore the controller configuration.

Note 1 Note 2

179

Maintenance 9. Troubleshooting

No.

1158

1160

1161

1163

1165

1166

1168

1170

1181

1185

1186

1187

1188

Message

File failure.

Failed to write the settings file.

MCD failure.

Failed to open the MCD file.

MCD failure.

Failed to read the MCD file.

MCD failure.

Failed to save the MCD file.

MPD failure.

Failed to open the MPD file.

MPD failure.

Failed to read the MPD file.

MPD failure.

Failed to save the MPD file.

MPL failure.

Failed to open the MPL file.

PRM failure.

Failed to replace the PRM file.

File failure.

Failed to open the backup information file.

File failure.

Failed to read the backup information file.

File failure.

Failed to write the backup information file.

File failure.

Failed to save the backup information file.

1189

1190

1191

1192

1193

1194

1195

1196

1197

1198

Remedy

Restore the controller configuration.

Reboot the controller.

Reinstall the firmware.

Reboot the controller.

Reconfigure the robot.

The backup data was created by an old version.

The backup data was created by a newer version.

There is no project in the backup data.

Cannot execute with invalid robot number.

Cannot execute with invalid robot information.

Cannot execute with invalid drive unit number.

File failure. Failed to map the health history.

File failure. Failed to open the health history file.

File failure. Failed to write the health history file.

Restore failure.

The project is invalid. Restore the project together if restoring Vision hardware configuration.

Cannot restore the controller configuration in the specified procedure for using old backup data.

Check the backup data.

Check that the Backup data is same as current robot number.

Reboot the controller.

Restore the project together if restoring Vision hardware configuration.

Note 1

Note 2

180 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

1200

1201

Message

Compile failure.

Check the compile message.

Link failure.

Check the link message.

Remedy

This error occurs during compilation from TP. Correct where the error occurred.

1250

1251

1252

User Outputs failure.

The Name is empty.

User Outputs failure.

The Condition is empty.

User Outputs failure.

Robot number is out of the available range.

1260

1261

Alarm Setting failure.

Robot does not exist.

Alarm Setting failure.

Failed to get the expiration date.

1262

1263

Alarm Setting failure.

Failed to set the alarm.

Alarm Setting failure.

Specified alarm number is out of the allowable range.

1264

1290

1291

1292

Alarm Setting failure.

Specified alarm number is not enabled.

Force monitor number is out of the allowable range.

Reboot the controller.

The force monitor is already used on another device.

Close the force monitor on another device, and then run the force monitor.

Failed to set/load information of FG sequence and object.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Check whether another PC is using the force monitor.

1400 Force Guide file error.

1401 Invalid Force Guide file path.

1402 Failed to open Force Guide file.

1403 Do not open Force Guide file.

1404

Invalid Force Guide sequence number.

1405 Invalid Force Guide object number.

1406

1407

Invalid Force Guide sequence property.

Invalid Force Guide object property.

1408 Invalid Force Guide object type.

1409 Invalid parameter.

1410 Invalid Force Guide file version.

1411

Force Guide Incorrect property is existing.

Confirm the property.

1412

Cannot set Decision object to top of Force Guide sequence.

Confirm Force Guide sequence.

Confirm the Force Guide property.

Cannot set Decision object to top of a sequence.

Confirm Force Guide sequence.

RC700 / RC700-A Rev.25

Note 1 Note 2

181

Maintenance 9. Troubleshooting

No.

1413

1420

1421

1422

Message

Specified Force Guide object as

ConditionObject is disabled.

Confirm the settings.

Failed to convert program.

Execute rebuild.

Initialization failure.

Cannot allocate memory.

Finalization failure.

Failed to finalization of controller.

1423 Invalid conversion file path.

1424 Invalid Prg file path.

1425 Invalid Command file path.

1426 Invalid conversion file.

1427 Invalid Command file.

1428

Failed to execute conversion of program.

Execute rebuild.

1429 Failed to write Prg file.

1500 Communication error.

1501

Command did not complete in time.

Remedy

Confirm the settings of Force Guide object.

Update from Ver.7.4.0.2 or earlier to

Ver7.4.0.2 or later may fail.

Reinstall the firmware.

Rebuild the project.

Execute the command again after a while. Check the connection between the EPSON RC+7.0 and controller.

Note 1

1502

Communication disconnection between RC+ and Controller. Reestablish communication.

Check the connection between the

EPSON RC+7.0 and controller.

1503

1504

1505

1506

Disconnection while executing a task.

Communication disconnection between Remote Ethernet and

Controller. Re-establish communication.

Communication disconnection between Remote RS232 and

Controller. Re-establish communication.

Communication disconnection between TP3 and Controller.

Re-establish communication.

1510 Out of IP Address range.

1511 Reserved IP Address.

1512 Reserved IP Gateway.

Check the connection between the console device and controller.

Check the connection between the

Remote Ethernet device and controller.

Check the connection between the

Remote RS232 device and controller.

Check the connection between TP3 and controller.

Check the IP address setting of the controller.

The IP address is reserved. Set the other IP address.

The gateway address is reserved.

Set the other gateway address.

Note 2

Communicati on timeout

2: USB cable disconnection

3: USB reception failure

4: USB communicati on shutdown

182 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

1521

1522

1523

1524

1526

1527

1528

1529

1530

1531

1532

1533

1534

1550

1551

1552

1553

1555

1556

1557

1558

Message

Vision communication.

Communication error.

Remedy

Vision communication.

Failed to initialize Ethernet.

Vision communication.

Failed to terminate Ethernet.

Reboot the controller.

Vision communication.

Failed to create the socket handle. Reboot the controller.

Vision communication.

Failed to connect.

Check the connection between the camera and controller.

Vision communication.

Failed to send to the server.

Vision communication.

Failed to read from the server.

Vision communication.

Failed to set option.

Vision communication.

Ethernet has not been initialized yet.

Vision communication.

Connection is not completed.

Vision communication.

All sockets are used.

Vision communication.

Sending time-out.

Vision communication.

Receiving time-out.

Check the connection between the camera and controller.

Reboot the controller.

Check the connection between the camera and controller.

Communication failure.

Ethernet initialization error.

Reboot the controller. Check the connection of the Ethernet cable.

Communication failure.

USB initialization error.

Communication failure.

Controller internal communication error.

Communication failure.

Invalid data is detected.

Reboot the controller. Check the connection of the USB cable.

Reboot the controller.

Ethernet transmission error.

Ethernet reception error.

USB transmission error.

USB reception error.

Check the connection between the

EPSON RC+7.0 and controller.

Check the connection between the

EPSON RC+7.0 and controller.

If the router is used between the PC and controller, confirm that the

DHCP function is disabled.

Check the connection between the

EPSON RC+7.0 and controller.

Check the connection between the

EPSON RC+7.0 and controller.

1559

1580

1581

1582

Communication failure.

Failed to allocate memory

Parser communication failure.

Communication error.

Parser communication failure.

Time-out occurred during communication.

Parser communication failure.

Transmission error.

RC700 / RC700-A Rev.25

Reboot the controller.

Upgrade the firmware.

Reboot the controller.

Reinstall the firmware.

Reboot the controller.

Rebuild the project.

Note 1 Note 2

183

Maintenance 9. Troubleshooting

No.

1583

1584

1585

1586

1587

1700

1701

1702

Message

Parser communication failure.

Initialization error.

Parser communication failure.

Connection error.

Parser communication failure.

Parameter is invalid.

Parser communication failure.

Busy

Parser communication failure.

Invalid data is detected.

Initialization failure.

Failed to initialize TP.

Initialization failure.

Failed to initialize TP.

Initialization failure.

Failed to initialize TP.

1703

File failure.

Failed to read the screen data file.

Reboot the controller.

Rebuild the project.

Remedy

Upgrade the firmware.

1704 Failed to read the setting file.

1706 Failed to open the TP port.

1708 Failed to read the key table for TP. -

1709 Failed to change the language. -

1710 Failed to display the screen.

1800

1802

1803

1804

1805

1806

1807

The controller is already connected to RC+.

The command was attempted without being connected to a controller.

Failed to read or write the file on the PC.

Initialization failure.

Failed to allocate memory on the

PC.

Connection failure.

Check the controller startup and connection of the communication cable.

Timeout during connection via

Ethernet.

Timeout during connection via

USB.

Only one RC+ 7.0 can be connected to the controller.

Connect to the controller.

1808 USB driver is not installed.

Failed to install EPSON RC+ 7.0.

Install EPSON RC+ 7.0 again.

1809

1810

Initialization failure.

Failed to initialize PC daemon.

PC daemon error.

Uncommon error.

Reboot the System.

1812

1852

Connection failure.

The connected controller is not supported in EPSON RC+ 7.0.

Please use EPSON RC+ 5.0.

System error.

Uncommon error.

Reboot the EPSON RC+7.0.

Reboot the PC.

Connected controller is RC180 or

RC90 compatible with EPSON RC+

5.0.

Check the connection between the

PC and controller.

Reboot the EPSON RC+7.0.

Reboot the PC.

Reinstall the EPSON RC+ 7.0.

184

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

1861

Message

Initialization failure.

Failed to initialize SimulatorMNG.

1862

Initialization failure.

Failed to initialize WBProxy.

1863 The parameter is invalid.

1864

Initialization failure.

Virtual controller does not exist.

1865

1867

1868

1872

1873

Initialization failure.

Failed to start virtual controller.

Cannot execute because it is not dry run mode.

Initialization failure.

Directory cannot be found.

Connection failure.

Files for simulator that used real controller cannot be found.

Connection failure.

Files for simulator that used virtual controller cannot be found.

Remedy

Reboot the EPSON RC+ 7.0.

Reboot the PC.

Reinstall the EPSON RC+ 7.0.

Reboot the EPSON RC+ 7.0.

Reboot the PC.

Reinstall the EPSON RC+ 7.0.

Installation of the EPSON RC+ 7.0 failed. Reinstall the software.

Retry after a while.

Reboot the PC.

Dry run mode is invalid.

Enable the dry run.

Installation of the EPSON RC+ 7.0 failed. Reinstall the software.

1874 Virtual Controller cannot be added. Installation of the EPSON RC+ 7.0

1875

Simulator Object failure.

Cannot load data for the simulator object.

1876

Simulator Object failure.

Cannot read data for the simulator object.

1877

1878

Simulator Object failure.

Cannot remove data from the simulator object.

Simulator Object failure.

Cannot update data for the simulator object.

1879

Other virtual controllers are starting.

Other virtual controllers may be used in the EPSON RC+ 5.0.

Or, the virtual controller may be already used in another EPSON

RC+7.0.

1880

1901

1902

Cannot execute during controller reset.

Unsupported.

Unsupported command was attempted.

Unsupported.

Unsupported parameter was specified.

Update the firmware.

1903

1910

System error.

Failed to write the reboot file.

Note 1 Note 2

RC700 / RC700-A Rev.25 185

Maintenance 9. Troubleshooting

No. Message

2000

2001

2003

2004

2005

2006

Unsupported.

Unsupported command was attempted.

Unsupported.

Unsupported motion command was attempted.

Unsupported.

Unsupported Function argument was specified.

Unsupported.

Unsupported Function return value was specified.

Unsupported.

Unsupported condition was specified.

Unsupported.

Unsupported I/O command was specified.

2007

Unsupported condition was specified.

2008

Unsupported.

Unknown error number.

2009

2010

2011

2012

2013

2014

2015

2016

2017

2018

2019

Unsupported.

Invalid Task number.

Object file error.

Build the project. Out of internal code range.

Object file error.

Build the project. Function argument error.

Object file error.

Build the project. Command argument error.

Object file error.

Build the project. Cannot process the code.

Object file error.

Build the project. Cannot process the variable type code.

Object file error.

Build the project. Cannot process the string type code.

Object file error.

Build the project. Cannot process the variable category code.

Object file error.

Build the project. Cannot process because of improper code.

Object file error.

Build the project. Failed to calculate the variable size.

Object file error.

Cannot process the variable wait.

Build the project.

Remedy

Rebuild the project.

Cannot jog in the CP motion

(default).

Clicking the same jog button will operate the robot in the PTP motion.

Cannot jog in the CP motion

(default).

Rebuild the project.

Note 1 Note 2

186 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2020

2021

2022

2023

2024

2031

2032

2033

2040

2041

2042

2043

2044

2045

2046

2047

2050

2051

2052

2053

2054

2055

Message

Stack table number exceeded.

Function call or local variable is out of range.

Stack area size exceeded.

Stack error. Function call or local variable is out of range.

Stack failure. Required data not found on the stack.

Stack failure. Unexpected tag found on the stack.

Stack area size exceeded. Local variable is out of range.

System failure.

Robot number is beyond the maximum count.

System failure.

Task number compliance error.

System failure.

Too many errors.

Thread failure.

Failed to create the thread.

Thread failure.

Thread creation timeout.

Thread failure.

Thread termination timeout.

Thread failure.

Thread termination timeout.

Thread failure.

Daemon process timeout.

Thread failure.

Task continuance wait timeout.

Thread failure.

Task stop wait timeout.

Thread failure.

Task startup wait timeout.

Object file operation failure.

Object file size is beyond the allowable size.

Object file operation failure.

Cannot delete the object file during execution.

Object file operation failure.

Cannot allocate the memory for the object file.

Object file operation failure.

Object file cannot be accessed while it is updating.

Object file operation failure.

Function ID failure. Rebuild the project.

Object file operation failure.

Local variable ID failure. Rebuild the project.

Rebuild the project.

Change the size of the Local variable.

Remedy

Check whether no function is called infinitely. Reduce the Call function depth.

If using many local variables, especially String type, replace them to global variables.

Rebuild the project.

Restore the controller configuration.

Rebuild the project.

Remedy the errors occurring frequently.

Reboot the controller.

Rebuild the project.

Reboot the controller.

Perform the same processing after a while. Rebuild the project.

Synchronize the files of the project.

Rebuild the project.

Synchronize the files of the project.

Rebuild the project.

Note 1 Note 2

RC700 / RC700-A Rev.25 187

Maintenance 9. Troubleshooting

No.

2056

2057

2058

2059

2070

2071

2072

2073

2074

Message

Object file operation failure.

Global variable ID failure. Rebuild the project.

Object file operation failure.

Global Preserve variable ID failure.

Rebuild the project.

Object file operation failure.

Failed to calculate the variable size.

Exceed the global variable area.

Cannot assign the Global variable area because it failed to allocate memory.

SRAM failure.

SRAM is not mapped.

SRAM failure.

Cannot delete when Global

Preserve variable is in use.

Exceed the backup variable area.

Cannot assign the Global Preserve variable area because it failed to allocate memory.

SRAM failure.

Failed to clear the Global Preserve variable area.

SRAM failure.

Failed to clean up the Global

Preserve variable save area.

2100

Initialization failure.

Failed to open the initialization file.

2101

2102

2103

2104

2105

2106

2107

2108

2109

2110

2111

Remedy

Synchronize the files of the project.

Rebuild the project.

Synchronize the files of the project.

Rebuild the project.

Synchronize the files of the project.

Rebuild the project.

Reduce the number of Global variables to be used.

Replace the CPU board.

Perform the same processing after a while. Rebuild the project.

Reduce the number of Global

Preserve variables to be used.

Rebuild the project.

Reboot the controller.

Restore the controller configuration.

Initialization failure.

Duplicated initialization.

Initialization failure.

Failed to initialize MNG.

Initialization failure.

Failed to create an event.

Initialization failure.

Failed to setup a priority.

Reboot the controller.

Initialization failure.

Failed to setup the stack size.

Initialization failure.

Failed to setup an interrupt process.

Reboot the controller.

Initialization failure.

Failed to start an interrupt process. Reboot the controller.

Initialization failure.

Failed to stop an interrupt process.

Reboot the controller.

Initialization failure.

Failed to terminate MNG.

Initialization failure.

Failed to allocate memory.

Initialization failure.

Failed to initialize motion.

Reboot the controller.

Restore the controller configuration.

Note 1

Maximum size

188

Note 2

The size you attempted to use

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2112

2130

2131

2132

2133

2134

2135

2113

2114

2115

2116

2117

2118

2119

2120

2121

2122

2123

2124

2126

2136

2137

2140

Message

Initialization failure.

Failed to terminate motion.

Initialization failure.

Failed to map SRAM.

Initialization failure.

Failed to register SRAM.

Initialization failure.

Fieldbus board is beyond the maximum count.

Initialization failure.

Failed to initialize fieldbus.

Initialization failure.

Failed to terminate fieldbus.

Initialization failure.

Failed to open motion.

Initialization failure.

Failed to initialize conveyor tracking.

Initialization failure.

Failed to allocate the system area.

Initialization failure.

Failed to allocate the object file area.

Initialization failure.

Failed to allocate the robot area.

Initialization failure.

Failed to create event.

Initialization failure.

An unsupported Fieldbus module is installed.

The settings are initialized since the initial setting file is corrupted.

Restore the system.

MCD failure.

Failed to open the MCD file.

MCD failure.

Failed to map the MCD file.

PRM failure.

PRM file cannot be found.

PRM failure.

Failed to map the PRM file.

PRM failure.

PRM file contents error.

PRM failure.

Failed to convert the PRM file.

PRM failure.

Failed to convert the PRM file.

PRM failure.

Failed to convert the PRM file.

Remedy

Reboot the controller.

Replace the CPU board.

Check the number of fieldbus boards.

Reboot the controller.

Check the fieldbus board.

Replace the fieldbus board.

Reboot the controller.

Restore the controller configuration.

Make sure the settings of conveyor and encoder are correct.

Reboot the controller.

Install the Fieldbus module purchased from SEC.

Since the initial setting file has significantly corrupted, the initial setting file of factory-default is used.

Restore the controller configuration.

Reboot the controller.

DU Initialization Error.

Cannot use drive units.

Reboot the controller.

Communication with drive units is not available for the virtual controllers.

Return the configuration file to original setting if it was changed.

Note 1 Note 2

RC700 / RC700-A Rev.25 189

Maintenance 9. Troubleshooting

No.

2141

2142

2143

2144

2145

2146

Message

DU Initialization Error. Failed to initialize drive units.

DU Initialization t Error.

Failed to initialize drive units.

DU Initialization Error.

Timeout during initialization of drive units.

DU Initialization Error.

No data to download to drive units.

DU Initialization Error.

Failed to start communication with drive units.

DU Initialization Error.

Timeout when starting communication with drive units.

2147

2148

2149

2150

2151

2152

2153

2154

2155

2156

2157

2158

2159

2160

2161

2162

Remedy

Check the connection with drive units.

Reboot the control unit and drive units.

DU Initialization Error. Failed to update the drive units software.

Review the software update setting.

Check the connection with the Drive

Unit.

Check the file name.

Check the update file.

Check the Drive Unit power and connection.

Reboot the Controller.

Operation failure.

Task number cannot be found.

Operation failure.

Executing the task.

Operation failure.

Object code size failure.

Operation failure.

Jog parameter failure.

Operation failure.

Executing jog.

Operation failure.

Cannot execute the jog function.

Reboot the Controller.

Operation failure.

Jog data is not configured.

Reboot the Controller.

Operation failure.

Failed to change the jog parameter. Reboot the Controller.

Operation failure.

Failed to allocate the area for the break point.

Operation failure.

Break point number is beyond the allowable setup count.

Operation failure.

Failed to allocate the function ID.

Operation failure.

Failed to allocate the local variable address.

Operation failure.

Not enough buffer to store the local variable.

Reboot the Controller.

Reduce the break points.

Reboot the Controller.

Review the size of the Local variable.

Note 1 Note 2

190 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2163

2164

2165

2166

2167

2168

2169

2170

2171

2172

2173

2174

2175

2176

2177

2178

2179

2180

2181

2190

Message

Operation failure.

Value change is available only when the task is halted.

Operation failure.

Failed to allocate the global variable address.

Operation failure.

Not enough buffer to store the global variable.

Operation failure.

Failed to obtain the Global

Preserve variable address.

Operation failure.

Not enough buffer to store the

Global Preserve variable.

Operation failure.

SRAM is not mapped.

Operation failure.

Cannot clear the Global Preserve variable when loading the object file.

Operation failure.

Not enough buffer to store the string.

Operation failure.

Cannot start the task after low voltage was detected.

Operation failure.

Duplicated remote I/O configuration.

Remote setup error.

Cannot assign non-existing input number to remote function.

Remote setup error.

Cannot assign non-existing output number to remote function.

Operation failure.

Remote function is not configured.

Operation failure.

Event wait error.

Operation failure.

System backup failed.

Operation failure.

System restore failed.

Remote setup error.

Cannot assign same input number to some remote functions.

Remote setup error.

Cannot assign same output number to some remote functions.

Operation failure.

Task number has not been reserved for RC+ API.

Cannot calculate because it was queue data.

Remedy

Halt the task by the break point.

Review the size of the global variable.

Review the size of the global preserve variable.

Reboot the Controller.

Check the size of the string variable.

Check the controller power.

Reboot the Controller.

Check the I/O input number.

Check the I/O output number.

Reboot the Controller.

Install the Controller firmware.

Reboot the Controller.

Install the Controller firmware.

Check the remote setting.

Set the number of RC+API tasks.

Review the program.

Note 1 Note 2

RC700 / RC700-A Rev.25 191

Maintenance 9. Troubleshooting

No.

2191

2192

2193

Message

Cannot execute AbortMotion because robot is not running from a task.

Cannot execute AbortMotion because robot task is already finished.

Cannot execute Recover without motion because AbortMotion was not executed.

2194 Conveyor setting error.

2195 Conveyor setting error.

Remedy

If you don’t operate the robot from a program, you cannot use

AbortMotion.

Task is completed.

Review the program.

Execute AbortMotion in advance to execute Recover WithoutMove.

Make sure the settings of conveyor and encoder are correct.

2196 Conveyor number is out of range.

2197

2200

Command parameter prohibited for conveyor tracking motion was used.

Robot in use.

Cannot execute the motion command when other tasks are using the robot.

2201 Robot does not exist.

Delete LJM.

The motion command for the robot cannot be simultaneously executed from more than one task. Review the program.

Check whether the robot setting is performed properly. Restore the controller configuration.

2202

Motion control module status failure. Unknown error was returned.

2203 Cannot clear local number ' 0 '.

Rebuild the project.

2204 Cannot clear an arm while in use.

2205 Cannot clear arm number ' 0 '.

2206 Cannot clear a tool while in use.

2207 Cannot clear tool number ' 0 '.

2208 Cannot clear ECP ' 0 '.

2209 Cannot clear an ECP while in use.

2210

Cannot specify ' 0 ' as the local number.

2216 Box number is out of range.

Note 1

The Local number 0 cannot be cleared. Review the program.

The Arm cannot be cleared while it is in use. Check whether the Arm is not used.

The Arm number 0 cannot be cleared. Review the program.

The Arm number you attempted to clear

The Tool cannot be cleared while it is in use. Check whether the Tool is not used.

The Tool number 0 cannot be cleared. Review the program.

The ECP number 0 cannot be cleared. Review the program.

The Tool number you attempted to clear

The ECP cannot be cleared while it is in use. Check whether the ECP is not used.

The ECP number you attempted to clear

The command processing the Local cannot specify the Local number 0.

Review the program.

Available Box numbers are from 1 to

15. Review the program.

Note 2

192 RC700 / RC700-A Rev.25

No. Message

2217 Box number is not defined.

2218 Plane number is out of range.

2219 Plane number is not defined.

2220

2221

PRM failure. No PRM file data is found.

PRM failure. Failed to flash the

PRM file.

2222 Local number is not defined.

2223 Local number is out of range.

2224

Unsupported. MCOFS is not defined

2225 CalPls is not defined.

2226 Arm number is out of range.

2227 Arm number is not defined.

2228

Pulse for the home position is not defined.

2229 Tool number is out of range.

2230 Tool number is not defined.

2231 ECP number is out of range.

2232 ECP number is not defined.

2233

2234

Axis to reset the encoder was not specified.

Cannot reset the encoder with motor in the on state.

2235 XYLIM is not defined.

2236

PRM failure. Failed to set up the

PRM file contents to the motion control status module.

2237 Pallet number is out of range.

2238 Pallet is not defined.

2240

Array subscript is out of user defined range. Cannot access or update beyond array bounds.

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

Remedy

Specified Box is not defined.

Review the Box number.

Available Box numbers are from 1 to

15. Review the program.

Specified Plane is not defined.

Review the Plane number.

Reboot the controller. Restore the controller configuration.

Check the Local setting. Review the program.

Available Local number is from 1 to

15. Review the program.

Note 1

The specified

Local number

The specified

Local number

Check the CalPls setting.

Available Arm number is from 0 to 3.

Depending on commands, the Arm number 0 is not available. Review the program.

Check the Arm setting. Review the program.

The specified

Arm number

The specified

Arm number

Note 2

Check the HomeSet setting.

Available Tool number is from 0 to 3.

Depending on commands, the Tool number 0 is not available. Review the program.

Check the Tool setting. Review the program.

Available Tool number is from 0 to

15. Depending on commands, the

Tool number 0 is not available.

Review the program.

Check the ECP setting. Review the program.

Be sure to specify the axis for encoder reset.

Turn the motor power OFF before reset.

Check the XYLim setting. Review the program.

Reboot the controller. Restore the controller configuration.

The specified

Tool number

The specified

Tool number

The specified

ECP number

The specified

ECP number

Available Pallet numbers are from 0 to 15. Review the program.

Check the Pallet setting.

Check the array subscript. Review the program.

The dimensions exceeding the definition

The specified subscript

193

Maintenance 9. Troubleshooting

No.

2241

Message

Dimensions of array do not match the declaration.

2242 Zero '0' was used as a divisor.

2243

2244

Variable overflow. Specified variable was beyond the maximum allowed value.

Variable underflow. Specified variable was below the minimum allowed value.

2245

Cannot execute this command with a floating point number.

2246

2247

Cannot calculate the specified value using the Tan function.

Specified array subscript is less than ' 0 '.

2248

2249

2250

2251

2252

2253

Array failure. Redim can only be executed for an array variable.

Array failure. Cannot specify

Preserve for other than a single dimension array.

Array failure. Failed to calculate the size of the variable area.

Cannot allocate enough memory for Redim statement.

Cannot allocate enough memory for ByRef.

Cannot compare characters with values.

2254

2255

2256

2257

2260

2261

2262

Specified data is beyond the array bounds. Cannot refer or update beyond the array bounds.

Variable overflow or underflow.

Specified variable is out of value range.

Specified array subscript is beyond the maximum allowed range.

Cannot specify Int64 variable or

UInt64 variable.

Task number is out of the available range.

Specified task number does not exist.

Robot number is out of the available range.

Remedy

Check the array's dimensions.

Review the program.

Check the variable type and calculation result. Review the program.

This command cannot be executed for Real or Double type. Review the program.

Check the specified value. Review the program.

You attempted to Redim the variable that is not array. Rebuild the project.

Other than a single dimension array was specified as Preserve for Redim.

Rebuild the project.

Note 1

The specified value

Rebuild the project.

Reduce the number of subscripts to be specified for Redim. Perform

Redim modestly.

Reduce the number of array's subscripts to be seen by ByRef.

Check whether the string type and the numeric data type are not compared. Review the program.

Check the number of array's subscripts and data. Review the program.

The value that exceeds the range of

Double type is specified. Review the program.

Reduce the number of subscripts to be specified. For available subscripts, see the online help.

Int64 variable or UInt64 variable cannot be specified. Correct the program.

For available task number, see the online help. Review the program.

The number of array subscripts

Review the program.

The available Robot number is 1.

Review the program.

The specified task number

The specified robot number

Note 2

The number of data to be referred or updated

194 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2263

2264

Message

Output number is out of the available range. The Port No. or the Device No. is out of the available range.

Command argument is out of the available range. Check the arguments. Added data 1:

Passed value. Added data 2: argument order.

Joint number is out of the available range. program.

Remedy

For available output number, see the online help. Review the program.

For available range of argument, see the online help. Review the

Note 1

The specified output number

The Added value

2265

2266

2267

2268

2269

2270

2271

2272

Wait time is out of available range.

Timer number is out of available range.

Trap number is out of available range.

Language ID is out of available range.

Specified D parameter value for the parallel process is out of available range.

Arch number is out of available range.

Device No. is out of available range.

Available Joint number is from 1 to 6.

Review the program.

The specified joint number

Available wait time is from 0 to

2147483. Review the program.

Available timer number is from 0 to

15. Review the program.

Available trap number is from 1 to 4.

Review the program.

For available language ID, see the online help. Review the program.

The specified wait time

The specified timer number

The specified trap number

Available D parameter value is from

0 to 100. Review the program.

The specified language ID

The specified

D parameter value

The specified arch number

Available arch number is from 0 to 7.

Review the program.

The specified number representing a control device or display device is out of available range. For available device number, see the online help.

Review the program.

The specified device number

Note 2

What number argument?

2273

Output data is out of available range.

Available output data value is from 0 to 255. Review the program.

Output data

What number byte data is out of range?

2274

2275

2276

2277

2278

2280

2281

2282

Asin argument is out of available range. Range is from -1 to 1.

Acos argument is out of available range. Range is from -1 to 1.

Sqr argument is out of available range.

Randomize argument is out of available range.

Sin, Cos, Tan argument is out of available range.

Timeout period set by the TMOut statement expired before the wait condition was completed in the

WAIT statement.

Timeout period set by TMOut statement in WaitSig statement or

SyncLock statement expired.

Timeout period set by TMOut statement in WaitNet statement expired.

Review the program.

Investigate the cause of timeout.

Check whether the set timeout period is proper.

Investigate the cause of timeout.

Check whether the set timeout period is proper.

Investigate the cause of timeout.

Check whether the set timeout period is proper.

Timeout period

Signal number

Port number

Timeout period

RC700 / RC700-A Rev.25 195

Maintenance 9. Troubleshooting

No.

2283

2290

2291

2292

2293

2294

2295

2296

2297

2298

2299

2300

2301

2302

2303

2304

2305

Message

Timeout.

Timeout at display device setting.

Cannot execute the motion command when the Enable Switch is OFF.

Remedy

Reboot the controller.

Cannot execute a motion command.

Cannot execute the OnErr command.

Cannot execute an I/O command while the safeguard is open.

Need Forced.

Cannot execute an I/O command during emergency stop condition.

Need Forced.

Robot in use. Cannot execute the motion command when other task is using the robot.

Cannot execute the motion command after using the user function in the motion command. Review the program.

Cannot execute OnErr in the motion command when using user function in the motion command. Review the program.

I/O command cannot be executed while the safeguard is open.

Review the program

I/O command cannot be executed during emergency stop condition.

Review the program.

Cannot execute an I/O command when an error has been detected.

Need Forced.

Cannot execute this command from a NoEmgAbort Task and

Background Task.

I/O command cannot be executed while an error occurs. Review the program.

For details on in executable commands, refer to the online help.

Review the program.

One or more source files are updated. Please build the project. Rebuild the project.

Cannot execute an I/O command in

TEACH mode without the Forced parameter.

Cannot continue execution in Trap

SGClose process.

I/O command cannot be executed in

TEACH mode. Review the program.

You cannot execute Cont and

Recover statements with processing task of Trap SGClose.

Cannot execute this command.

Need the setting [enable the advance task control commands] from RC+ controller preference settings.

Enable the [enable the advance task control commands] from RC+ to execute the command.

The motion command for the robot cannot be simultaneously executed from more than one task. Review the program.

Execute the motion command with the enable switch gripped.

Cannot execute a Call statement in a Trap Call process.

Another function cannot be called from the function called by Trap Call.

Review the program.

Cannot execute a Call statement in a parallel process.

Cannot execute an Xqt statement in a parallel process.

Cannot execute a Call statement from the command window.

Review the program.

Execute Call from the program.

2306

2307

Cannot execute an Xqt statement from the task started by Trap Xqt.

Cannot execute this command while tasks are executing.

Review the program.

Check whether all tasks are completed.

Note 1

Task number that is using the robot

Note 2

196 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2308

2309

Message

Cannot turn on the motor because of a critical error.

Cannot execute a motion command while the safeguard is open.

Cannot execute a motion command while waiting for continue.

Remedy

Find the previously occurring error in the error history and resolve its cause. Then, reboot the controller.

Check the safeguard status.

2310

2311

2312

2313

2314

2315

2316

2317

2318

2319

2320

2321

2322

2323

2324

2325

2326

Cannot execute a motion command during the continue process.

Cannot execute a task during emergency stop condition.

Cannot continue execution immediately after opening the safeguard.

Cannot continue execution while the safeguard is open.

Cannot execute Cont and Restart command in resume operation.

Cannot continue execution after an error has been detected.

Cannot execute the task when an error has been detected.

Cannot execute a motion command when an error has been detected.

Cannot execute an I/O command during emergency stop condition.

Function failure. Argument type does not match.

Function failure. Return value does not match to the function.

Function failure.

ByRef type does not match.

Function failure. Failed to process the ByRef parameter.

Function failure. Dimension of the

ByRef parameter does not match.

Function failure. Cannot use

ByRef in an Xqt statement.

Cannot execute a Dll Call statement from the command window.

2327 Failed to execute a Dll Call.

Execute the Continue or Stop and then execute the motion command.

Wait until the Continue is complete and then execute the motion command.

Check the emergency stop status.

Wait 1.5 seconds after the safeguard is open, and then execute the

Continue.

Check the safeguard status.

Wait until the Continue is completed.

Check the error status.

Reset the error by Reset and then execute the task.

Execute the motion command after resetting the error by Reset.

Check the emergency stop status.

Rebuild the project.

Execute DII Call from the program.

Check the DLL.

Review the program.

You need to connect with RC+ before executing the task.

2328

Cannot execute the task before connection with RC+.

2329

2330

2331

Cannot execute an Eval statement in a Trap Call process.

Trap failure.

Cannot use the argument in Trap

Call or Xqt statement.

Trap failure.

Failed to process Trap Goto statement.

RC700 / RC700-A Rev.25

Check the program.

Rebuild the project.

Note 1 Note 2

197

Maintenance 9. Troubleshooting

No.

2332

2333

2334

2335

Message

Trap failure.

Failed to process Trap Goto statement.

Trap failure.

Trap is already in process.

Cannot execute an Eval statement in a Trap Finish or a Trap Abort process.

Cannot continue execution and

Reset Error in TEACH mode.

2336

2337

2338

2339

2340

2341

2342

2343

2344

2345

2346

2347

2348

2349

2350

2353

Remedy

Rebuild the project.

Check the program.

Cannot use Here statement with a parallel process.

Check the program.

Go Here :Z(0) ! D10; MemOn(1) ! is not executable.

Change the program to:

P999 = Here

Go P999 Here :Z(0) ! D10;

MemOn(1) !

Cannot execute except from an event handler functions of GUI

Builder.

Cannot execute Xqt, data input, and output for TP in a TEST mode.

Cannot execute in stand-alone mode.

Specified value in InBCD function is an invalid BCD value.

Specified value in the OpBCD statement is an invalid BCD value.

Cannot change the status for output bit configured as remote output.

Output time for asynchronous output commanded by On or Off statement is out of the available range.

I/O input/output bit number is out of available range or the board is not installed.

Review the program.

Cannot execute in TEST mode.

Review the program.

Change the setting to “cooperative mode” and execute.

Review the program.

Check the remote I/O setting.

Review the program.

I/O input/output byte number is out of available range or the board is not installed.

I/O input/output word number is out of available range or the board is not installed.

Memory I/O bit number is out of available range.

Memory I/O byte number is out of available range.

Memory I/O word number is out of available range.

Command allowed only when virtual I/O mode is active.

Specified command cannot be executed from the Command window.

Review the program.

Check whether the expansion I/O board and Fieldbus I/O board are correctly detected.

Review the program.

Check whether the expansion I/O board and Fieldbus I/O board are correctly detected.

Review the program.

Check whether the expansion I/O board and Fieldbus I/O board are correctly detected.

Review the program.

The command can be executed only for virtual I/O mode.

Execute specified command from the program.

198

Note 1

Tens digit

The specified value

I/O number

The specified time

Bit number

Byte number

Word number

Bit number

Byte number

Word number

Note 2

Units digit

1: bit, 2: byte, 3: word

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2354

2360

2361

2362

2363

2364

2365

2370

Message

Cannot execute the I/O output command when the Enable Switch is OFF.

File failure.

Failed to open the configuration file.

File failure.

Failed to close the configuration file.

File failure.

Failed to open the key of the configuration file.

File failure.

Failed to obtain a string from the configuration file.

File failure.

Failed to write in the configuration file.

File failure.

Failed to update the configuration file.

The string combination exceeds the maximum string length.

2371 String length is out of range.

2372

2373

2374

2380

2381

2382

2383

2384

2385

2386

2400

2401

2402

2403

Invalid character is specified after the ampersand in the Val function.

Illegal string specified for the Val function.

String Failure. Invalid character code in the string.

Cannot use ' 0 ' for Step value in

For...Next.

Relation between For...Next and

GoSub is invalid. Going in or out of a For...Next using a Goto statement.

Cannot execute Return while executing OnErr.

Return was used without GoSub.

Review the program.

Case or Send was used without

Select. Review the program.

Cannot execute EResume while executing GoSub.

EResume was used without OnErr.

Review the program.

Curve failure.

Failed to open the Curve file.

Curve failure.

Failed to allocate the header data of the curve file.

Curve failure.

Failed to write the curve file.

Curve failure.

Failed to open the curve file.

RC700 / RC700-A Rev.25

Remedy

Execute the I/O output command with the enable switch gripped.

Restore the controller configuration.

The maximum string length is 255.

Review the program.

The maximum string length is 255.

Review the program.

Check the Step value.

Review the program.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Note 1

Combined string length

The specified length

Note 2

199

Maintenance 9. Troubleshooting

No.

2404

2405

2406

2407

Message

Curve failure.

Failed to update the curve file.

Curve failure.

Failed to read the curve file.

Curve failure.

Curve file is corrupt.

Curve failure.

Specified a file other than a curve file.

2408

2409

2410

2411

Curve failure.

Version of the curve file is invalid.

Curve failure.

Robot number in the curve file is invalid.

Curve failure.

Cannot allocate enough memory for the CVMove statement.

Specified point data in the Curve statement is beyond the maximum count.

2412

2413

Specified number of output commands in the Curve statement is beyond the maximum count.

Curve failure. Specified internal code is beyond the allowable size in Curve statement.

2414

2415

Specified continue point data P(:) is beyond the maximum count.

Curve failure.

Cannot create the curve file.

2416 Curve file does not exist.

2417

2430

2431

2432

2433

2434

2435

2440

Curve failure.

Output command is specified before the point data.

Error message failure.

Error message file does not exist.

Error message failure.

Failed to open the error message file.

Error message failure.

Failed to obtain the header data of the error message file.

Error message failure.

Error message file is corrupted.

Error message failure.

Specified a file other than the error message file.

Error message failure.

Version of the error message file is invalid.

File Error.

File number is already used.

Remedy

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

Create a Curve file again.

Reboot the controller.

The maximum number of points specified in the Curve statement is

200. Review the program.

The maximum number of output commands specified in the Curve statement is 16. Review the program.

Reboot the controller.

The maximum number of points specified continuously is 200.

Review the program.

Reboot the controller.

Create a Curve file again.

Check whether the specified Curve file name is correct.

Check whether no output command is specified before the point data.

Reboot the controller.

Check the file number.

200

Note 1

Start point

Note 2

End point

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2441

2442

2443

Message

File Error.

Failed to open the file.

File Error.

The file is not open.

File Error. The file number is being used by another task.

Remedy

Make sure the file exists and you specified the file correctly.

Open the file in advance.

Check the program.

2444 File Error. Failed to close the file. Check the file.

2445 File Error. File seek failed.

Review the program.

Check the pointer setting.

2446

File Error.

All file numbers are being used.

Close unnecessary files.

2447

File Error.

No read permission.

Use ROpen or UOpen that has read access to the file.

2448

2449

2450

File Error.

No write permission.

File Error.

No binary permission.

File Error.

Failed to access the file.

Use WOpen or UOpen that has write access to the file.

Use BOpen that has binary access to the file.

Check the file.

2451 File Error. Failed to write the file. Check the file.

Note 1 Note 2

2452 File Error. Failed to read the file. Check the file.

2453

File Error.

Cannot execute the command for current disk.

2454 File Error. Invalid disk.

The specified command is not available in the current disk (ChDisk).

Review the program.

2455 File Error. Invalid drive.

2456 File Error. Invalid folder.

2460

2461

Database Error.

The database number is already being used.

Review the program.

Specify the number of other database.

Close the database.

Review the program.

Open the database.

2462

2470

2471

2472

2473

2474

2475

2476

Database Error.

The database is not open.

Database Error.

The database number is being used by another task.

Windows Communication Error.

Invalid status.

Windows Communication Error.

Invalid answer.

Windows Communication Error.

Already initialized.

Windows Communication Error.

Busy.

Windows Communication Error.

No request.

Windows Communication Error.

Data buffer overflow.

Windows Communication Error.

Failed to wait for event.

Review the program.

Reboot the Controller.

Rebuild the project.

Reboot the Controller.

Rebuild the project.

Reboot the Controller.

Rebuild the project.

Reboot the Controller.

Rebuild the project.

Reduce the data volume.

Review the program.

Reboot the Controller.

RC700 / RC700-A Rev.25 201

Maintenance 9. Troubleshooting

No. Message

2477

Windows Communication Error.

Invalid folder.

2478

Windows Communication Error.

Invalid error code.

Remedy

Make sure the specified folder is correct.

Rebuild the project.

2500

2501

Specified event condition for Wait is beyond the maximum count.

Specified bit number in the Ctr function was not initialized with a

CTReset statement.

The maximum number of event conditions is 8. Review the program.

Review the program.

2502

Task number is beyond the maximum count to execute.

The available number of tasks that can be executed simultaneously is 32 for normal tasks, and 16 for background tasks. Review the program.

2503

2504

2505

2506

2507

2508

2509

Cannot execute Xqt when the specified task number is already executing.

Task failure. Specified manipulator is already executing a parallel process.

Not enough data for Input statement variable assignment.

Specified variable for the Input statement is beyond the maximum count.

All counters are in use and cannot initialize a new counter with

CTReset.

OnErr failure. Failed to process the OnErr statement.

Review the program.

Rebuild the project.

Check the content of communication data. Review the program.

For OP, only one variable can be specified. For other devices, up to

32 variables can be specified.

The available number of the counters that can be set simultaneously is 16.

Review the program.

Rebuild the project.

2510 Specified I/O label is not defined.

2511

2512

SyncUnlock statement is used without executing a previous

SyncLock statement. Review the program.

SyncLock statement was already executed.

The specified I/O label is not registered. Check the I/O label file.

Review the program.

The SyncLock statement cannot be executed for the second time in a row. Review the program.

2513 Specified point label is not defined. The specified point label is not

2514

2515

2516

Failed to obtain the motor on time of the robot.

Failed to configure the date or the time.

Failed to obtain the debug data or to initialize.

Reboot the controller.

Check whether a date and time is set correctly.

Reboot the controller.

2517

2518

Failed to convert into date or time.

Larger number was specified for the start point data than the end point data.

Check the time set on the controller.

Reboot the controller.

Specify a larger number for the end point data than that for the start point data.

Note 1

The specified bit number

The specified task number

Signal number

Start point

Note 2

End point

202 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No. Message

2519 Invalid format syntax for FmtStr$.

2520

2521

2544

2545

File name is too long.

File path is too long.

2522 File name is invalid.

2523

2524

The continue process was already executed.

Cannot execute Xqt when the specified trap number is already executing.

2525 Password is invalid.

2526 No wait terms.

2527

Too many variables used for global variable wait.

2528

2529

The global variable that was not able to be used for the wait command was specified.

Cannot use ByRef if the variable is used for global variable wait.

2530 Too many point files.

2531

The point file is used by another robot.

2532

Cannot progress to the point position because there is undefined data.

2533 Error on INP or OUTP.

2534

No main function to start for Restart statement.

2535

Does not allow Enable setting in

Teach mode to be changed.

2536

2537

Failed to change Enable setting in

Teach mode.

Count of point data P(:) is not correct or format of parameter is not correct.

2538

Force_GetForces failure.

Failed to process Force_GetForces statement.

2539 Password is invalid.

2540 Not connected to RC+.

2541 Duplicate parameter.

2542

The specified work queue number is invalid.

2543 Invalid sequence was specified.

Invalid object was specified.

Invalid calibration was specified.

Remedy

Check the format.

Check whether the specified point file name is correct. The maximum string length of the file name is 32.

Check whether the specified point file name is correct.

Make sure you don’t use improper characters for file name.

Review the program.

Check whether a password is set correctly.

Rebuild the project.

Review the program.

Check the point file.

Review the program.

Check the point data.

Review the program.

Without executing main function,

Restart is called.

Setup the authority.

Reboot the Controller.

Review the program.

Check the password.

Connect to the RC+.

Same robot number was specified.

Check the parameter.

Available work queue number s are from 1 to 16. Review the program.

Specified sequence name cannot be found. Review the sequence name.

Specified object name cannot be found. Review the object name.

Specified calibration name cannot be found. Review the calibration name.

Note 1 Note 2

RC700 / RC700-A Rev.25 203

Maintenance 9. Troubleshooting

No.

2546

2548

2549

2550

2551

2552

2553

2557

Message

Cannot turn on the motor immediately after opening the safeguard.

Too many force files.

Delete the force files or use the existing force files.

The force file which is not associated with the robot cannot be specified.

Specify the correct force file.

Specified command is not supported for joint type robot and cartesian type robot.

Failed to Get the health information.

Does not allow setting in UL mode to be changed.

Failed to change setting in UL mode.

An error occurred in Trap.

Note 1: Detailed error information

Following the detailed error information, take a relevant countermeasure.

2558 Argument parameter is too long.

2559

2560

2561

2562

2563

2564

2565

Cannot execute when the motor is in the off state.

The current robot number and the robot number of the force guide sequence property do not match.

Please check the robot number.

The current robot type and the robot type of the force guide sequence property do not match.

Reconfigure the RobotNumber property.

The current tool number and the robot tool of the force guide sequence property do not match.

Please check the tool number.

The point file being loaded does not match the point file of the force guide sequence property.

Please check the point file.

An instruction that cannot be executed during torque control was executed.

Prohibited command while tracking was executed.

2566

Cannot execute the FGRun command for same robot.

Remedy

Wait 1.5 seconds after the safeguard is open, and then execute the motor on.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Specified robot is not supported.

Check the robot configuration.

Reboot the controller.

Setup the authority.

Reboot the Controller.

Note 1

An error occurred in Trap.

Check the corresponding error code in the system history and take countermeasures.

Confirm a parameter of the argument.

Change to the state to motor on and execute.

Confirm the current robot number and the robot number of the force guide sequence.

Confirm the current robot number and the robot number of the force guide sequence property.

Reconfigure the RobotNumber property.

Confirm the current tool number and the robot tool of the force guide sequence property.

Detailed error information

Robot number

Tool number

Confirm the loaded point file and the the point file of the force guide sequence.

Turn OFF the torque control and execute.

Delete Prohibited commands from the program.

Cannot execute the FGRun command for same robot. End the

FGRun command or execute it in other robot

Note 2

204 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2603

2840

2841

2842

2572

2573

2574

2575

2576

2577

2567

2568

2569

2570

2571

2578

2600

2601

2602

2843

2844

Message

Cannot execute the FGGet command for the running force guide sequence.

An instruction that cannot be executed by parallel processing was executed.

Review the program.

Cannot get the force guide sequence property.

Sequence number is out of range.

Please check the specified sequence number.

Object number is out of range.

Please check the specified object number.

Cannot clear the result of the force guide.

Cannot set the result of the force guide.

Cannot get the result of the force guide.

Storing the force guide sequence result in a variable failed.

Force Sequence name that does not exist was specified.

Force Object name that does not exist was specified.

Cannot execute the FGGet command for the unexecuted force guide sequence.

Mass Property Object number is out of the allowable range.

Check the range of numbers.

Mass Property Object is not defined.

Check the setting.

Cannot clear Mass Property Object while in use.

Specify another Mass Property

Object before clearing the previous object.

Cannot clear Mass Property Object number '0'

Failed in the confirmation of the DU connection count.

Failed in the acquisition of the DU connection count.

Failed in the confirmation of the DU connection information.

Failed in the acquisition of the DU connection information.

There is a missing number or repetition in the dip switch setting of DU. number.

Remedy

Cannot execute the FGGet command for the running force guide sequence.

Execute it after the force guide sequence ends.

Review the program.

Reboot the Controller.

Sequence number is from 1 to 64.

Confirm the specified sequence

Object number is from 1 to 16.

Confirm the specified object number.

Reboot the Controller.

Confirm the specified force sequence name.

Confirm the specified force object name.

Confirm the specified force guide sequence.

The MassProperties numbers that can be specified are from 1 to 15.

Please review the program.

Please confirm the setting of

MassProperties.

Please review the program.

MP cannot be cleared while in use.

Please confirm whether MP is in use.

MP-number 0 cannot be cleared.

Please review the program.

Check whether the Drive Unit is connected properly.

Check the dip switches of the Drive

Unit

Note 1

Sequence number

Object number

Note 2

RC700 / RC700-A Rev.25 205

Maintenance 9. Troubleshooting

No. Message

2845

2846

2847

2848

2849

2850

2851

2852

2853

2854

2855

2856

The drive unit (DU) used by the robot is not connected.

Because the increase and decrease of the drive unit was recognized, the controller unit is rebooted.

The dip switch setting of the Force

Sensor I/F unit is improper.

The Force Sensor I/F unit to which the Force Sensor is registered is not connected.

Check connection.

Failed to initialize the Force Sensor

I/F unit.

Check connection.

Failed to initialize the Force Sensor

I/F unit.

Check connection.

The Force Sensor which is different from the registered sensor is connected.

Check connection or review the setting.

The registered Force Sensor is not connected.

Check connection.

Failed to update the Force Sensor

I/F unit software.

Review the update procedure.

Failed to update the Force Sensor

I/F unit software.

Review the update procedure.

Failed to update the Force Sensor

I/F unit software.

Review the update procedure.

The Force Sensor I/F unit with an old version is connected.

Update the Force Sensor I/F unit software.

Remedy

Check whether the Drive Unit is connected properly.

The controller was rebooted due to change of connection with the Drive

Unit.

It is necessary to change the dip switch setting.

Please inquire with us.

Please confirm whether it is possible to connect it with Force Sensor I/F unit correctly.

The serial number of the sensor connected with the registered sensor is not corresponding.

Please exchange it for a new sensor after confirming the connection, returning to the connected sensor, or invalidating the sensor. In case of intended replacement, configure the connection settings again in the sensor setting.

Please confirm whether it is possible to connect it with the registered sensor correctly.

Please invalidate the sensor when you do not connect the sensor.

Please review the soft update setting.

Please confirm the connection with

Force Sensor I/F unit.

Please confirm the file name.

Please confirm the update file.

Please confirm the power supply and the connection of Force Sensor I/F unit.

Reboot the controller.

The version of the connected Force

Sensor I/F unit needs to be updated.

Update the Force Sensor I/F unit.

For update procedures, please inquiry with us.

Note 1

Delete the robot registration or connect the

DU with the manipulator registered.

Note 2

206 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2857

2858

2859

2860

2861

2862

2863

2864

2865

2866

2867

2868

2869

2870

Message

The robot registered to the Force

Sensor I/F unit is not connected.

Review the robot registration or the

Force Sensor configuration.

Failed to allocate memory for the force monitor.

Failed to allocate memory for the force log.

The force monitor object specified in the force log is in use.

Specify another force monitor object.

The maximum number of the force logs is executed.

Review the log timing.

Failed to allocate memory of force function.

Execution of force guide sequence,

RecordStart, FCMStart and

LogStart cannot be executed at the same time.

Please review the program.

Execution of force guide sequence,

RecordStart, FCMStart and force monitor cannot be executed at the same time.

Please quit either.

Execution of force guide sequence,

RecordStart, FCMStart and

LogStart cannot be executed at the same time.

Please review the program.

Execution of force guide sequence,

RecordStart, FCMStart and force monitor cannot be executed at the same time.

Please quit either.

The specified channel in use.

Specify another channel.

The force monitor object being used is specified. Please specify another force monitor object.

The specified duration of measurement is smaller than the specified measurement interval.

Check the parameter.

The product of the specified duration of measurement and the specified measurement interval is out of allowable range.

Check the parameter.

Remedy

The robot that relates to the sensor is not registered.

Please review the registration of the robot or invalidate the robot connection.

Reboot the controller.

Please inquire with us if a similar error occurs after rebooting it.

Reboot the controller.

Please inquire with us if a similar error occurs after rebooting it.

The same FM number cannot be specified.

Please specify a different FM number.

The greatest log number is used.

Please confirm the number of logs.

Reboot the controller.

Please inquire with us if a similar error occurs after rebooting it.

Execute after the LogStart property ends by LogEnd property.

Execute after quitting the Force

Monitor.

Execute the LogStart property after the RecordStart property ends by force guide sequence, force control monitor, or the RecordEnd property.

Execute the force monitor after quitting the RecordStart property by force guide sequence, force control monitor, or the RecordEnd property.

The same channel cannot be specified. Specify a different channel to execute.

The same FM number cannot be specified. Specify a different FM number to execute.

Specify the measurement time larger than the measurement interval to execute.

Check the measurement time and interval.

Note 1 Note 2

RC700 / RC700-A Rev.25 207

Maintenance 9. Troubleshooting

No.

2871

2872

2880

2881

2882

2883

2884

Message

Execution of force guide sequence,

RecordStart, FCMStart, force monitor cannot be used more than three at the same time.

Force monitor cannot be launched twice.

Failed to initialize the Force Sensor

I/F board.

Check connection.

Failed to initialize the Force Sensor

I/F board.

Check connection.

Failed to initialize the Force Sensor

I/F board.

Check connection.

Remedy

To execute newly, make sure to quit either of the two running items and execute.

To start force monitor newly, quit the running force monitor and start a new one.

Check connection of the controller and Force Sensor I/F board.

Reboot the controller.

Please inquire with us if a similar error occurs even after rebooting the controller.

Check connection of the controller and Force Sensor I/F board.

Reboot the controller.

Please inquire with us if a similar error occurs even after rebooting the controller.

Detected two boards: Force Sensor

I/F board and RS-232C board.

If using the Force Sensor I/F board,

RS-232C board is available up to one board.

Detected two boards: Force Sensor

I/F board and RS-232C board with the second board setting.

If using the Force Sensor I/F board, return the setting to the first board of RS-232C board.

Remove the Force Sensor I/F board or the second board of RS-232C board.

Return the setting to the first board of

RS-232C board.

Check connection of the controller and Force Sensor I/F board.

Reboot the controller.

Please inquire with us if a similar error occurs even after rebooting the controller.

2885

2886

2887

2888

Sensor 3 and 4 of Force Sensors are enabling.

If using Force Sensor I/F board, disable the sensor 3 and 4 of Force

Sensors.

Failed to communicate with Force

Sensor I/F board and Force

Sensor.

Check connection of the Force

Sensor.

Detected Force Sensor I/F board and Force Sensor I/F unit.

Remove either Force Sensor I/F board or Force Sensor I/F unit.

Unsupported Force Sensor is set.

Check the configuration.

Disable the sensor 3 and 4 of the

Force Sensor.

Check connection of the Force

Sensor I/F board and Force Sensor.

Reboot the controller.

Please inquire with us if a similar error occurs even after rebooting the controller.

Unable to use the Force Sensor I/F board and Force Sensor I/F unit at the same time.

Remove the Force Sensor I/F board or Force Sensor I/F unit.

Check the configuration.

Firmware version may be old.

Check whether the firmware version is supported and update it as necessary.

208

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2900

2901

2906

2907

2908

2909

Message

Failed to open as server for the

Ethernet port.

Failed to open as client for the

Ethernet port.

2902

Failed to read from the Ethernet port.

2904 Invalid IP Address was specified.

2905

Ethernet failure.

No specification of Server/Client.

Ethernet port was not configured.

Ethernet pot was already in use by another task.

Cannot change the port parameters while the Ethernet port is open.

Ethernet port is not open.

Remedy

Check whether the Ethernet port is set properly. Check whether the

Ethernet cable is connected properly.

Check whether the Ethernet port is set properly. Check whether the

Ethernet cable is connected properly.

Check whether the port of communication recipient is not close.

Review the IP address.

Review the program.

Check whether the Ethernet port is set properly.

A single port cannot be used by more than one task.

The port parameters cannot be changed while the port is open.

To use the Ethernet port, execute the

OpenNet statement.

Note 1

Port number

2910

2911

2912

2913

2914

Timeout reading from an Ethernet port.

Failed to read from an Ethernet port.

Ethernet port was already open by another task.

Failed to write to the Ethernet port.

Ethernet port connection was not completed.

Check the communication.

A single port cannot be used by more than one task.

Check whether the Ethernet port is set properly. Check whether the

Ethernet cable is connected properly.

Check whether the port of communication recipient is open.

Timeout value

Port number

2915

Data received from the Ethernet port is beyond the limit of one line.

The maximum length of a line is 255 bytes.

The number of bytes in a received line

2916

2920

2921

2922

2926

2927

2928

2929

Failed to process a dummy file of virtual Ethernet port

RS-232C failure.

RS-232C port process error.

Failed to read from the RS-232C port.

Failed to read from the RS-232C port. Overrun error.

The RS-232C port hardware is not installed.

RS-232C port is already open by another task.

Cannot change the port parameters while the RS-232C port is open.

RS-232C port is not open.

Check the content of the dummy file.

Port number

Check whether the RS-232C board is correctly detected.

Check the parameter and communication.

Slow down data transfer or reduce data size.

Check whether the RS-232C board is correctly detected.

A single port cannot be used by more than one task.

The port parameters cannot be changed while the port is open.

To use the RS-232C port, execute the OpenCom statement.

Port number

2930

Timeout reading from the RS-232C port.

Check the communication.

Timeout value

Note 2

RC700 / RC700-A Rev.25 209

Maintenance 9. Troubleshooting

No.

2931

2932

Message

Failed to read from the RS-232C port.

RS-232C port is already open by another task.

Remedy

Check the communication.

A single port cannot be used by more than one task.

2933 Failed to write to the RS-232C port. Check the communication.

2934

RS-232C port connection not completed.

Check the RS-232C port.

Note 1

Port number

2935

Data received from the RS-232C port is beyond the limit of one line.

The maximum length of a line is 255 bytes.

The number of bytes in a received line

2936

2937

2938

2950

Failed to process a dummy file of virtual RS-232C port

Cannot execute while Remote RS-

232C are using.

Cannot execute while ModBus are using.

Daemon failure. Failed to create the daemon thread.

Check the content of the dummy file.

Specified port is currently used.

Specify another port.

Specified port is currently used.

Specify another port.

Reboot the Controller.

2951

Daemon failure. Timeout while creating the daemon thread.

Reboot the Controller.

2952

2953

2954

2955

TEACH/AUTO switching key input signal failure was detected.

ENABLE key input signal failure was detected.

Relay weld was detected.

Temperature of regeneration resistor was higher than the specified temperature.

Set the TP key switch to TEACH or

AUTO properly. Check whether the

TP is connected properly.

Check whether the TP is connected properly.

Overcurrent probably occurred due to short-circuit failure. Investigate the cause of the problem and take necessary measures and then replace the DPB.

Check whether the filter is not clogged up and the fan does not stop.

If there is no problem on the filter and fan, replace the regenerative module.

2970

2971

2972

MNG failure.

Area allocate error.

MNG failure.

Real time check error.

MNG failure.

Standard priority error.

Reboot the Controller.

2973 MNG failure. Boost priority error. Reboot the Controller.

Port number

2974 MNG failure. Down priority error. Reboot the Controller.

2975 MNG failure. Event wait error. Reboot the Controller.

2976 MNG failure. Map close error. Reboot the Controller.

2977

2978

2979

2981

MNG failure. Area free error.

MNG failure. AddIOMem error.

MNG failure. AddInPort error.

2980 MNG failure. AddOutPort error.

MNG failure. AddInMemPort error.

Reboot the Controller.

Note 2

210 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

2982

Message

MNG failure.

AddOutMemPort error.

Remedy

Reboot the Controller.

2983 MNG failure. IntervalOutBit error. Reboot the Controller.

2984 MNG failure. CtrReset error.

2997 Collision Detection

Reboot the Controller.

If you use the simulator, check if the object is placed in the direction of the robot motion.

Note 1 Note 2

2998

2999

AbortMotion attempted when robot was not moving

AbortMotion attempted when robot was moving

See Help for AbortMotion.

RC700 / RC700-A Rev.25 211

Maintenance 9. Troubleshooting

No. Message

3000

3001

OBJ file size is large. TP1 may not be able to build this project.

The number of variables which is using Wait command is near the maximum allowed.

3002 DLL file cannot be found.

3003 DLL function cannot be found.

3050 Main function is not defined.

3051 Function does not exist.

3052 Variable does not exist.

3100 Syntax error.

3101 Parameter count error.

3102

File name length is beyond the maximum allowed.

3103 Duplicate function definition.

3104 Duplicate variable definition ‘ ** ’.

3105

3106

Global and Global Preserve variables cannot be defined inside a function block.

An undefined function was specified.

3107

3108

Both While and Until for Do...Loop was specified.

Specified line number or label ‘ ** ’ does not exist.

3109 Overflow error.

3110

3111

3112

3114

3115

3116

212

An undefined variable was specified ‘ ** ’.

Specified variable is not an array variable.

Cannot change the dimensions of the array variable.

Specified Next variable does not match the specified For variable.

Cannot use a point expression in the first argument.

Array number of dimensions does not match the declaration.

Remedy

When it is necessary to build the project from TP1, consider to reduce the program.

The number of variables which is using Wait command is exceeding 56

(the maximum is 64). Check if there are unnecessary variables.

Check if the DLL file exists in either of the following folders:

- Project folder

- Windows system folder

- Configuration folder of environment variable PATH

Check the name of the specified function. Also check the DLL file if the specified function exists in the

DLL.

Declare a Main function.

Declare an unresolved function.

Declare an unresolved variable.

Correct the syntax error.

The number of parameters is excess or deficiency. Correct the parameters.

Shorten the file name.

Change the function name.

Change the variable name.

Declare the Global and Global

Preserve variables outside the function block.

Specify a valid function name.

The While/Until statement is specified for both Do statement and

Loop statement. Delete either

While/Until statement.

Set the line label.

The direct numerical specification overflows. Reduce the numeric value.

There is an undefined variable.

Declare the variable.

Specify the array variable.

Dimension of the array cannot be changed in Redim statement during the run time. Correct the program.

Correct the variable name.

Specify a single point for the point flag setting. Do not specify a point expression.

Check the number of array dimensions.

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No. Message

3117 File cannot be found.

3118

3119

3120

3121

3123

3124

3126

3127

3128

3129

3130

3131

3132

Corresponding EndIf cannot be found.

Corresponding Loop cannot be found.

Corresponding Next cannot be found.

Corresponding Send cannot be found.

On/Off statements are beyond the maximum count.

Point number is beyond the maximum count.

3125 Corresponding If cannot be found.

Corresponding Do cannot be found.

Corresponding Select cannot be found.

Corresponding For cannot be found.

'_' cannot be used as the first character of an identifier.

Cannot specify ROT parameter.

Cannot specify ECP parameter.

Cannot specify Arch parameter.

Remedy

The file that configures the project cannot be found. Check the project folder if the file exists.

The number of EndIf statements that correspond to If and ElseIf statements is not enough. Add the

EndIf statements.

The number of Loop statements that correspond to Do statements is not enough. Add the Loop statements.

The number of Next statements that correspond to For statements is not enough. Add the Next statements.

The number of Send statements that correspond to Select statements is not enough. Add the Send statements.

An upper limit (max. 16) is set on the number of On/Off statements in

Curve statement. Check the upper limit and correct the program.

An upper limit (“200” for open curves,

“50” for closed curves) is set on the available number of points in Curve statement. Check the upper limit and correct the program.

The number of EndIf statements that correspond to If statements is too many. Delete the unnecessary

EndIf.

The number of Loop statements that correspond to Do statements is too many. Delete the unnecessary

Loop.

The number of Send statements that correspond to Select statements is too many. Delete the unnecessary

Send.

The number of Next statements that correspond to For statements is too many. Delete the unnecessary

Next.

Change the first character of the identifier to an alphabetic character.

ROT parameter cannot be specified in BGo, Go, TGo, Jump, and Jump3 statements. Correct the program.

ECP parameter cannot be specified in BGo, Go, TGo, Jump, Jump3, and

Arc statements. Correct the program.

Arch parameter cannot be specified in BGo, Go, TGo, Arc, Arc3, BMove,

Move, and TMove statements.

Correct the program

Note 1 Note 2

RC700 / RC700-A Rev.25 213

Maintenance 9. Troubleshooting

No. Message

3133

3134

3135

3137

3138

3139

3140

3141

3142

3143

3144

3145

3146

3147

3148

Cannot specify LimZ parameter.

Cannot specify Sense parameter.

Invalid parameter is specified.

Cannot specify the array variable subscript.

ByRef was not specified on

Function declaration.

Cannot execute the Xqt statement for a function that needs a ByRef parameter.

Cannot execute the Redim statement for a ByRef variable.

OBJ file is corrupt.

OBJ file size is beyond the available size after compiling.

Indent length is beyond the available size.

' ** ' already used for a function name.

' ** ' already used for a Global

Preserve variable.

' ** ' already used for a Global variable.

' ** ' already used for a Module variable.

' ** ' already used for a Local variable.

3149 ' ** ' already used for an I/O label.

3150

' ** ' already used for a User Error label.

3151 Cannot use a function parameter.

Remedy

LimZ parameter cannot be specified in BGo, Go, TGo, Jump3, Arc, Arc3,

BMove, Move, and TMove statements. Correct the program.

Sense parameter cannot be specified in BGo, Go, TGo, Arc, Arc3, BMove,

Move, and TMove statements.

Correct the program.

Invalid parameter is specified in Xqt, and Call statements. Correct the program.

The array variable subscript cannot be specified. Correct the program.

Specify ByRef in the parameter list of function declaration that is called by

Call statement.

The Xqt statement cannot be executed for a function needing a

ByRef parameter. Delete the ByRef parameter.

The Redim statement cannot be executed for a variable specifying

ByRef parameter. Delete the ByRef parameter.

The compilation result exceeds the limit value (max. 1 MB per file).

Divide the program.

The available length of the identifier is max. 32 characters for labels and variable names, and 64 characters for function names. Reduce the number of characters so as not to exceed the available length. For details of the available length, refer to

EPSON RC+ User’s Guide “6.4

Function and Variable Names

(Naming restriction)”

Correct the identifier ' ** ' or the function name.

Correct the identifier ' ** ' or the

Global Preserve variable name.

Correct the identifier ' ** ' or the

Global variable name.

Correct the identifier ' ** ' or the

Module variable name.

Correct the identifier ' ** ' or the Local variable name.

Correct the identifier ' ** ' or the I/O label name.

Correct the identifier ' ** ' or the User

Error label name.

Argument cannot be specified for the function that is executed by the Trap statement. Correct the program.

Note 1 Note 2

214 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

3152

3153

3154

3161

3162

3163

3164

3165

3166

3167

3168

3169

3170

3171

3172

Specified elements of the array variable are beyond the available size.

' ** ' is not an Input Bit label.

3155 ' ** ' is not an Input Byte label.

3156 ' ** ' is not an Input Word label.

3157 ' ** ' is not an Output Bit label.

3158 ' ** ' is not an Output Byte label.

3159 ' ** ' is not an Output Word label.

3160 ' ** ' is not a Memory Bit label.

Cannot compare with Boolean value.

Cannot use Boolean value in the expression.

Cannot compare between Boolean and expression. specified.

Message

Parameter type mismatch.

' ** ' is not a Memory Byte label.

' ** ' is not a Memory Word label.

Too many function arguments.

Cannot store Boolean value to a numeric variable.

Cannot store numeric value to a

Boolean variable.

Undefined I/O label was specified.

Invalid condition expression was

Cannot compare between numeric value and string.

Cannot use a keyword for a variable name.

Remedy

Limit value of the array elements depends on the type of variables.

Refer to

EPSON RC+7.0 User’s

Guide “6.7.6 Array”

and correct the number of array elements so as not to exceed the limit value.

Parameter type does not match in

Call, Force_GetForces, and Xqt statements. Correct the parameter type.

Specify a valid input bit label.

Specify a valid input byte label.

Specify a valid input word label.

Specify a valid output bit label.

Specify a valid output byte label.

Specify a valid output word label.

Specify a valid memory I/O bit label.

Specify a valid memory I/O byte label.

Specify a valid memory I/O word label.

The maximum number of the function parameter is 100. Reduce the number of parameters.

The size of Boolean values cannot be compared. Correct the program.

Boolean value cannot be used in the expression. Correct the program.

The size of Boolean value and the expression cannot be compared.

Correct the program.

Boolean value cannot be used in the numeric variable. Correct the program.

The numeric value cannot be used in

Boolean variable. Correct the program.

Define a new I/O label or specify the defined I/O label.

String expression is specified for the right side of the condition expression in Do or Loop statement. Correct the condition expression so that the right side of the expression is

Boolean value.

The numeric value and string cannot be compared. Correct the program.

Some SPEL+ keywords cannot be used as the variable names.

Correct the variable name not to overlap with the keywords.

3173 ' ** ' is already used for a line label. Correct the identifier ' ** ' or the line

Note 1 Note 2

RC700 / RC700-A Rev.25 215

Maintenance 9. Troubleshooting

No. Message

3174

3175

3176

3177 ' ** ' already used for a Point label.

3178

3179

3180

3181

Undefined Point label was specified.

An undefined variable was specified.

Cannot change a calibration property value with the VSet command.

Array variable should be used with

ByRef.

3182 Subscription was not specified.

3183 Parameter cannot be omitted.

3184

SYNC parameter cannot use with tracking command.

3185

3186

3187

3188

3189

3190

3191

Duplicate line number or label (**).

Cannot use the result number.

String literal is beyond the available length.

Cannot use Queue data.

Combination between Queue and

Point data does not match.

Invalid Point flag value was specified.

Call command cannot be used in parallel processing.

Local variables cannot be used with the Wait command.

Array variables cannot be used with the Wait command.

Real variables cannot be used with the Wait command.

Remedy

The line labels with the same name cannot be specified in the same function. Delete the line label ' ** ', or define a new line label and correct the program.

Define a new point label or specify the defined point label.

Define a new variable or specify the defined variable.

Correct the identifier ' ** ' or the point label name.

The result number cannot be specified when a vision object that does not return multiple results is used in VSet and VGet statements.

Correct the program.

The limit value of the string length is max. 255 characters. Reduce the string length so as not to exceed the limit value.

Calibration property cannot be changed in VSet statement. Correct the program.

ByVal cannot be specified for the array variable. Specify the ByRef parameter.

Specify a subscription.

Add a parameter.

SYNC parameter cannot be specified in tracking commands. Delete the

SYNC parameter.

Queue data cannot be specified in

BGo, BMove, TGo, and TMove statements. Delete the queue data.

Combination of queue data and point data cannot be specified for coordinate specification of Arc, Arc3,

Jump3, and Jump3CP statements.

Use either queue data or the point data.

Correct the program so that the point flag value is within the range from 0 to 127.

Call command cannot be used parallel processing. Correct the program.

Change of local variable cannot be waited by Wait statement. Correct the program.

Change of array variable cannot be waited by Wait statement. Correct the program.

Change of real variable cannot be waited by Wait statement. Correct the program.

Note 1 Note 2

216 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

3192

3193

3194

3196

3197

3198

3199

Message

String variables cannot be used with the Wait command.

Vision object name is missing.

Cannot use Boolean value for the timeout value.

Fend statement was not found.

Numeric variable name cannot use

'$'.

String variables must have '$' suffix.

Invalid object was specified.

3200 Value is missing.

3201 Expected ' , '.

3202 Expected ' ( '.

3203 Expected ' ) '.

3204 Identifier is missing.

3205 Point is not specified.

3206

3207

3208

3209

3210

3211

3212

3213

3214

3215

3216

Event condition expression is missing.

Formula is missing.

String formula is missing.

Point formula is missing.

Line label was not specified.

Variable was not specified.

Corresponding Fend cannot be found.

Expected ' : '.

True/False was not specified.

On/Off was not specified.

High/Low was not specified.

Remedy

Change of string variable cannot be waited by Wait statement. Correct the program.

Vision object name cannot be omitted in VTeach statement.

Specify the object name.

Boolean value cannot be used for the timeout value of Wait statement.

Correct the program.

The number of Fend statements that correspond to Function statements is not enough. Add the Fend statements.

Numeric variable name cannot use

'$'. Correct the variable name.

String variables must have a '$' suffix. Add a '$' suffix to the variable name.

Invalid vision object is specified in

Vision Guide commands such as

VSet and VGet. Specify the valid vision object.

Add a value.

Add ' , '.

Add ' ( '.

Add ' ) '.

Specify an identifier.

Specify a point.

Add an event condition expression.

Add a formula.

Add a string formula.

Add a point formula.

Check if the specified line label exists in the program. Add a valid line label.

Specify a variable.

The number of Fend statements that correspond to Function statements is not enough. Add the Fend statements.

Add ' : '.

True/False was not specified in the property of Vision Guide/GUI Builder or substitution of logical expression which requires Boolean value setting.

Specify True or False.

On or Off must be specified for the remote output logic setting of Motor,

Brake, AutoLJM, SetSw, and Box statements. Specify On or Off.

High or Low must be specified for the power mode setting of Power statement. Specify High or Low.

Note 1 Note 2

RC700 / RC700-A Rev.25 217

Maintenance 9. Troubleshooting

No. Message

3217 Input bit label was not specified.

3218 Input byte label was not specified.

3219 Input word label was not specified.

3220 Output bit label was not specified.

3221

3222

Output byte label was not specified.

Output word label was not specified.

3223 Memory bit label was not specified.

3224

3225

Memory byte label was not specified.

Memory word label was not specified.

3226 User error label was not specified.

3227 Function name was not specified.

3228 Variable type was not specified.

3229

Invalid Trap statement parameter.

Use Goto, Call, or Xqt.

3230 Expected For/Do/Function.

3231 Above/Below was not specified.

Remedy

Input bit label is not specified in

SetSW, CTReset statement, Sw, and

Ctr function. Specify a valid input bit label.

Input byte label is not specified in

SetIn statement, In, and InBCD function. Specify a valid input byte label.

Input word label is not specified in

SetInW statement, InReal, and InW function. Specify a valid input word label.

Output bit label is not specified in On,

Off statement, and Oport function.

Specify a valid output bit label.

Output byte label is not specified in

Out, OpBCD statement, and Out function. Specify a valid output byte label.

Output word label is not specified in

OutW, OutReal statement, OutW, and OutReal function. Specify a valid output word label.

Memory bit label is not specified in

MemOn, MemOff statement, and

MemSw function. Specify a valid memory bit label.

Memory byte label is not specified in

MemOut statement and MemIn function. Specify a valid memory byte label.

Memory word label is not specified in

MemOutW statement and MemInW function. Specify a valid memory word label.

User error label is not specified in

Error statement. Specify a valid user error label.

Function name is not specified in the statement that requires function name designation, such as Call and

Xqt. Specify a valid function name.

Variable type is not specified for the parameter definition of Function statement and Preserve parameter specification of Global statement.

Specify a correct variable type.

Specify either GoTo, Call, or Xqt as a parameter of Trap statement.

Specify either For, Do, or Function as a parameter of Exit statement.

Setting value for the elbow orientation is not specified in Elbow statement. Specify either Above or

Below.

Note 1 Note 2

218 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

3232

3233

3234

3235

3236

3237

3238

String type variable was not specified.

RS-232C port number was not specified.

Network communication port number was not specified.

Communication speed was not specified.

3239 Data bit number was not specified.

3240

3241

3242

Message

Righty/Lefty was not specified.

NoFlip/Flip was specified.

Port number was not specified.

Stop bit number was not specified.

Parity was not specified.

Terminator was not specified.

Remedy

Setting value for the hand orientation is not specified in Hand statement.

Specify either Righty or Lefty.

Setting value for the wrist orientation is not specified in Wrist statement.

Specify either NoFilip or Flip.

Port number that indicates the file or communication port is not specified in Read, ReadBin, Write, and

WriteBin statements.

Refer to

SPEL+ Language Reference

“

Read Statement

” and specify a proper file number or port number.

String type variable is not specified in the command that requires specification of string type variable as a parameter. Specify a valid string type variable.

RS-232C port number is not specified in OpenCom, CloseCom, and SetCom statements. Refer to

SPEL+ Language Reference

“

OpenCom Statement

” and specify a proper port number.

Network communication port number is not specified in OpenNet,

CloseNet, SetNet, and WaitNet statement. Specify an integer from

201 to 216.

Communication speed (baud rate) is not specified in SetCom statement.

Refer to

SPEL+ Language Reference

“SetCom Statement”

and specify a proper baud rate.

Data bit length is not specified in

SetCom statement. Refer to

SPEL+

Language Reference “SetCom

Statement”

and specify a proper data bit length.

Stop bit length is not specified in

SetCom statement. Refer to

SPEL+

Language Reference “SetCom

Statement”

and specify a proper stop bit length.

Parity is not specified in SetCom statement. Refer to

SPEL+

Language Reference “SetCom

Statement”

and specify a proper parity.

Terminator (end of send/receive line) is not specified in SetCom and

SetNet statements. Refer to

SPEL+

Language Reference “SetCom

Statement”

and specify a proper terminator.

Note 1 Note 2

RC700 / RC700-A Rev.25 219

Maintenance 9. Troubleshooting

No. Message

3243 Hardware flow was not specified.

3244 Software flow was not specified.

3245 None was not specified.

3246

Parameter ' O ' or ' C ' was not specified.

3247

NumAxes parameter was not specified.

3248

3249

J4Flag value (0-1) was not specified.

J6Flag value (0-127) was not specified.

3250 Array variable was not specified.

3251

String Array variable was not specified.

3252 Device ID was not specified.

3253 I/O type was not specified.

3254 I/O bit width was not specified.

3255 ByRef was not specified.

220

Remedy

Hardware flow is not specified in

SetCom statement. Refer to

SPEL+

Language Reference “SetCom

Statement”

and specify a proper flow control.

Software flow is not specified in

SetCom statement. Refer to

SPEL+

Language Reference “SetCom

Statement”

and specify a proper flow control.

“NONE” is not specified for software flow control setting in SetNet statement. Specify “NONE”.

Open or close parameter for the end of a curve is not specified in Curve statement.

Refer to

SPEL+ Language Reference

“Curve Statement”

and specify a proper open/close parameter.

The number of coordinate axes controlled during a curve motion is not specified in Curve statement.

Refer to

SPEL+ Language Reference

“Curve Statement”

and specify a proper number of the coordinate axes.

Specify 0 or 1, or an expression for

J4Flag value.

Specify an integer from 0 to 127, or an expression for J6Flag value.

Array variable is not specified in the statement that requires specification of array variable. Specify a valid array variable.

Array which stores a token must be a string array variable in ParseStr statement and ParseStr function.

Specify a string array variable.

Device ID is not specified in DispDev statement or Cls command. Refer to

SPEL+ Language Reference

“DispDev Statement”

and specify a proper device ID.

I/O type is not specified in

IOLabel$ function. Refer to

SPEL+

Language Reference

“IOLabel$ Function”

and specify a proper I/O type.

I/O bit size (I/O port width) is not specified in IODef, IOLabe function.

Refer to

SPEL+ Language Reference

“IODef Function”

and specify a proper I/O bit size.

Although the ByRef is specified in the function declaration, no ByRef is specified for calling. Specify the

ByRef parameter.

Note 1 Note 2

RC700 / RC700-A Rev.25

No. Message

3256 Variable type was not specified.

3257

Condition expression does not evaluate to Boolean value.

3258

RS232C port number was not specified.

3259

Network communication port number was not specified.

3260 Language ID was not specified.

3261 Expected '.'.

3262

Vision Sequence Name was not specified.

3263

Vision Sequence Name or

Calibration Name was not specified.

3264

Vision Property Name or Result

Name was not specified.

3265

Vision Property Name, Result

Name or Object Name was not specified.

3266

Vision Calibration Property Name was not specified.

3267 Task type was not specified.

3268 Form name was not specified.

3269

Property Name or Control Name was not specified.

Maintenance 9. Troubleshooting

Remedy

Variable type is not specified in

Global statement. Specify a proper variable type.

Condition expression in If, ElseIf, Do, and Loop statement must return a

Boolean value. Correct the condition expression to return a

Boolean value.

RS-232C port number is not specified in ChkCom function.

Refer to

SPEL+ Language Reference

“ChkCom Function”

and specify a proper port number.

Network communication port number is not specified in ChkNet function.

Refer to

SPEL+ Language Reference

“ChkNet Function”

and specify a proper port number.

Language ID is not specified in

ErrMsg$ function. Refer to

SPEL+

Language Reference

“ErrMsg$ Function”

and specify a proper language ID.

Add '.'.

Vision sequence name is not specified in Vision Guide commands such as VSet, VGet, and VRun.

Add a sequence name.

Vision sequence name or calibration name is not specified in VSet and

VGet statements. Add a sequence name or calibration name.

Vision property name or result name is not specified in VSet and VGet statements. Add a property name or result name.

Either of Vision property name, result name, or object name is not specified in VSet and VGet statements. Add either of a property name, result name, or object name.

Vision calibration property name is not specified in VSet and VGet statements. Add a property name.

Task type is not specified in Xqt statement. Refer to

SPEL+

Language Reference “Xqt Statement”

and specify a proper task type.

Form name is not specified in GSet,

GGet, GShow, GShowDialog, and

GClose statements. Specify a form name.

Property name or control name is not specified in GSet and GGet statements. Specify a property name or control name.

Note 1 Note 2

RC700 / RC700-A Rev.25 221

Maintenance 9. Troubleshooting

No. Message

3270

3272

3273

3274

3275

3276

3277

3278

3279

3280

Property Name was not specified.

3271 BackColorMode was not specified.

BorderStyle was not specified.

DropDownStyle was not specified.

EventTaskType was not specified.

ImageAlign was not specified.

IOType was not specified.

FormBorderStyle was not specified.

ScrollBars was not specified.

SizeMode was not specified.

StartPosition was not specified.

Remedy

Property name is not specified in

GSet and GGet statements. Specify a property name.

BackColorMode property setting value is not specified in GSet statement. Refer to

GUI Builder 7.0

manual “

BackColorMode Property

” and specify a proper setting value.

BorderStyle property setting value is not specified in GSet statement.

Refer to

GUI Builder 7.0

manual

“

BorderStyle Property

” and specify a proper setting value.

DropDownStyle property setting value is not specified in GSet statement. Refer to

GUI Builder 7.0

manual “

DropDownStyle Property

” and specify a proper setting value.

EventTaskType property setting value is not specified in GSet statement. Refer to

GUI Builder 7.0

manual “

EventTaskType Property

” and specify a proper setting value.

ImageAlign property setting value is not specified in GSet statement.

Refer to

GUI Builder 7.0

manual

“

ImageAlign Property

” and specify a proper setting value.

IOType property setting value is not specified in GSet statement. Refer to

GUI Builder 7.0

manual “

IOType

Property

” and specify a proper setting value.

FormBorderStyle property setting value is not specified in GSet statement. Refer to

GUI Builder 7.0

manual “

FormBorderStyle Property

” and specify a proper setting value.

ScrollBars property setting value is not specified in GSet statement.

Refer to

GUI Builder 7.0

manual

“

ScrollBars Property

” and specify a proper setting value.

SizeMode property setting value is not specified in GSet statement.

Refer to

GUI Builder 7.0

manual

“

SizeMode Property

” and specify a proper setting value.

StartPosition property setting value is not specified in GSet statement.

Refer to

GUI Builder 7.0

manual

“

StartPosition Property

” and specify a proper setting value.

Note 1 Note 2

222 RC700 / RC700-A Rev.25

No. Message

3281 TextAlign was not specified.

3282 TextAlign was not specified.

3283 TextAlign was not specified.

3284 WindowState was not specified.

3285 J1FLAG was not specified.

3286 J2FLAG was not specified.

3287 Robot ID was not specified.

3288 Robot ID/All was not specified.

3289 Area ID was not specified.

3290 File number was not specified.

3292 Database type was not specified.

3293 Disk type was not specified.

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

Remedy

TextAlign property setting value is not specified in GSet statement.

This error occurs when the control type cannot be identified because the control is specified by a string variable. Refer to

GUI Builder 7.0

manual “

TextAlign Property

” and specify a proper setting value.

TextAlign property setting value is not specified in GSet statement.

This error occurs when the control is a text box. Refer to

GUI Builder 7.0

manual “

TextAlign Property

” and specify a proper setting value.

TextAlign property setting value is not specified in GSet statement.

This error occurs when the control is other than a text box. Refer to

GUI

Builder 7.0

manual “

TextAlign

Property

” and specify a proper setting value.

WindowState property setting value is not specified in GSet statement.

Refer to

GUI Builder 7.0

manual

“

WindowState Property

” and specify a proper setting value.

Specify 0 or 1, or an expression for

J1Flag value.

Specify 0 or 1, or an expression for

J2Flag value.

Specify a robot number.

Robot number or All is not specified in InsideBox and InsidePlane function. Specify a robot number which performs intrusion detection, or

All.

Area number is not specified in

InsideBox and InsidePlane function.

Specify an approach check area number which returns status by an integer from 1 to 15.

File number is not specified in the command related to file management. Specify a file number by an integer from 30 to 63 or an expression.

Database type is not specified in

OpenDB statement. Refer to

SPEL+ Language Reference

“

OpenDB Statement

” and specify a proper database type.

Type of the disk that is subject to file manipulation is not specified in

ChDisk statement. Refer to

SPEL+

Language Reference

“

ChDisk

Statement

” and specify a proper disk type.

Note 1 Note 2

223

Maintenance 9. Troubleshooting

No. Message

3295

3296

3297

3298

3299

3301

3302

3303

3304

3305

3306

3311 File cannot be found.

3312 OBJ file is corrupt.

224

Conveyor area ID was not specified.

Database file number was not specified.

Vision calibration name was not specified.

Vision object type ID was not specified.

Shutdown mode ID was not specified.

Version of linked OBJ file does not match.

Linked OBJ file does not match the compiled I/O label.

Linked OBJ file does not match the compiled user error label.

Linked OBJ file does not match the compiled compile option.

Linked OBJ file does not match the compiled link option.

Linked OBJ file does not match the compiled SPEL option.

3307 Duplicate function.

3308 Duplicate global preserve variable.

3309 Duplicate global variable.

3310 Duplicate module variable.

Remedy

Area ID that is subject to count the queue data is not specified in

Cnv_QueLen function. Refer to

SPEL+ Language Reference

“

Cnv_QueLen Function

” and specify a proper area ID.

Data base number that is subject to operation is not specified in OpenDB,

CloseDB, DeleteDB, UpdateDB, and

SelectDB function. Refer to

SPEL+

Language Reference

“

OpenDB

Statement

” and specify a proper database number.

Calibration name is not specified in

VCal statement. Specify a name of calibration that is subject to calibrate.

Vision object type is not specified in

VCreateObject statement. Refer to

Vision Guide 7.0 Properties &

Results Reference

“

VCreateObject

Statement

” and specify a proper object type.

Shutdown mode value is not specified in ShutDown statement and

ShutDown function. Refer to

SPEL+

Language Reference

“

Shutdown

Statement

” and specify a proper mode value.

Not all project files are compiled in the same version.

Rebuild the project.

The project configuration has been changed. Rebuild the project.

Note 1 Note 2

The project configuration has been changed. Rebuild the project.

The same function name is used for more than one file. Correct the program (function name).

The same global preserve variable name is used for more than one file.

Correct the program (variable name).

The same global variable name is used for more than one file.

Correct the program (variable name).

The same module variable name is used for more than one file.

Correct the program (variable name).

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

3313

Message

The specified file name includes character(s) that cannot be used.

Remedy

3314

3315

3316

3317

3318

3319

3320

3321

3322

3323

Cannot open the file.

' ** ' is already used for a function name.

' ** ' is already used for a global preserve variable name.

' ** ' is already used for a global variable name.

' ** ' is already used for a module variable name.

Dimension of the array variable does not match the declaration.

Return value type of the function does not match the declaration.

' ** ' is already used with function name.

' ** ' is already used with Global

Preserve name.

' ** ' is already used with Global name.

The file is used for other application.

Quit the other application.

Correct the identifier ' ** ' or the function name. Rebuild the project.

Correct the identifier ' ** ' or the global preserve variable name.

Rebuild the project.

Correct the identifier ' ** ' or the global variable name. Rebuild the project.

Correct the identifier ' ** ' or the module variable name. Rebuild the project.

Correct the dimension of the array and rebuild the project.

Correct the return value type of the function and rebuild the project.

Correct the identifier ' ** ' or the function name. Rebuild the project.

Correct the identifier ' ** ' or the global preserve variable name.

Rebuild the project.

Correct the identifier ' ** ' or the global variable name. Rebuild the project.

Correct the identifier ' ** ' or the module variable name. Rebuild the project.

Correct the identifier ' ** ' or the local variable name. Rebuild the project.

Check the number of parameters in the function, correct the program, and then rebuild the project.

3324

3325

3326

3327

3328

3329

3330

3331

3332

3333

3334

' ** 'is already used with Module name.

' ** ' is already used with Local name.

The number of parameters does not match the declaration.

ByRef was not specified in

Function declaration for parameter

**.

ByRef was not specified for parameter **.

Parameter ** type mismatch.

Linked OBJ file does not match the compiled Vision Project.

OBJ file size is beyond the available size after linking.

Variable '**' is redefined.

Linked OBJ file does not match the compiled GUI Builder Project.

The number of variables which is using Wait command is beyond the maximum allowed.

Rebuild the project.

The OBJ file size exceeds the limit value (8MB). Reduce the program.

Variable ' ** ’ is overloaded. Delete unnecessary variable definition and rebuild the project.

Rebuild the project.

The number of variables which is using Wait command is exceeding the maximum allowed (64). Delete the variables and rebuild the project.

Note 1 Note 2

RC700 / RC700-A Rev.25 225

Maintenance 9. Troubleshooting

No. Message Remedy

3335

Call cannot be used in parallel processing.

Call cannot be used in parallel processing. Correct the program and rebuild the project.

3336 Variable was redefined.

3351

Invalid object index was specified.

Correct the data type of the variable and rebuild the project.

3352

3353

3354

3355

3356

Force Guide Sequence Name was not specified.

Force Guide Property Name or

Result Name was not specified.

Force Guide Property Name,

Result Name or Object Name was not specified.

Force Guide project file has unsupported file format.

Linked OBJ file does not match the compiled Force Guide Project.

3400 Dialog ID was not specified.

3401

3402

3403

3407

Main function name was not specified.

Vision object name was not specified.

Recover mode ID was not specified.

3404 Trap condition was not specified.

3405 DialogResult was not specified.

3406 MsgBox_Type was not specified.

Byte type array variable was not specified.

Dialog ID is not specified in

RunDialog statement. Refer to

SPEL+ Language Reference

“

RunDialog Statement

” and specify a dialog ID.

Name of the main function to execute is not specified in StartMain statement. Specify a main function name (main to main63).

Vision object name is not specified in

VLoadModel, VSaveModel,

VShowModel, VTeach, and VTrain statements. Specify an object name.

Recover mode is not specified in

Recover statement or Recover function. Refer to

SPEL+ Language

Reference

“

Recover Statement

” and specify a proper mode.

Trap number or trap event is not specified in Trap statement. Refer to

SPEL+ Language Reference

“

Trap

Statement

” and specify a proper trap number or event.

DialogResult property setting value is not specified in GSet statement.

Refer to

GUI Builder 7.0

“

DialogResult Property

” and specify a proper setting value.

Display type is not specified in

MsgBox statement. Refer to

SPEL+

Language Reference

“

MsgBox

Statement

” and specify a proper setting value.

Byte type array variable is not specified for send or receive data in

FbusIO_SendMsg statement.

Send/receive data must be specified by Byte type array.

Note 1

226

Note 2

RC700 / RC700-A Rev.25

No.

3408

Message

Single array variable was not specified.

3409 Point list is not specified.

3410 Code type is not specified.

3411 Edge type is not specified.

3412 ECC type is not specified.

3413 ImageColor type is not specified.

3414 Point type is not specified.

3415 Reference type is not specified.

3416 Edge type is not specified.

Maintenance 9. Troubleshooting

Note 2 Remedy

The number of dimensions is not proper in the command where single array variable is only available.

Correct the number of dimensions.

Pixel coordinate or robot coordinate is not specified as a continuous point data in VxCalib statement. Specify a continuous point data in the following format: P (start : end)

CodeType property setting value is not specified in VSet statement.

Refer to

Vision Guide 7.0 Properties

& Results Reference

“

CodeType

Property

” and specify a proper setting value.

EdgeType property setting value is not specified in VSet statement.

Refer to

Vision Guide 7.0 Properties

& Results Reference

“

EdgeType

Property

” and specify a proper setting value.

ErrorCorrection property setting value is not specified in VSet statement. This error is for the old

RC+6.x. Setting of the old version is possible by compiler version setting.

Refer to

Vision Guide 6.0 Properties

& Results Reference

“

ErrorCorrection

Property

” and specify a proper setting value.

ImageColor property setting value is not specified in VSet statement.

Refer to Vision Guide 7.0

Properties

& Results Reference “ImageColor

Property

” and specify a proper setting value.

PointType property setting value is not specified in VSet statement.

Refer to

Vision Guide 7.0 Properties

& Results Reference

“

PointType

Property

” and specify a proper setting value.

ReferenceType property setting value is not specified in VSet statement. Refer to

Vision Guide

7.0 Properties & Results Reference

“

ReferenceType Property

” and specify a proper setting value.

Logic (edge type) of the trigger input is not specified in SetLatch statement. Specify either 0

(negative logic) or 1 (positive logic).

Note 1

RC700 / RC700-A Rev.25 227

Maintenance 9. Troubleshooting

No. Message

3417

3418

3419

3420

3421

3422

3423

3424

3425

3426

Port number is not specified.

Axis is not specified.

CompareType is not specified.

Integer or Short type array variable is only available.

Form name or window ID is not specified.

Window ID is not specified.

Performance mode ID was not specified.

Protocol type was not specified.

I/O type or I/O label was not specified.

Singularity avoidance mode was not specified.

Remedy

R-I/O input port number where the trigger input is connected is not specified in SetLatch statement.

Refer to

SPEL+ Language Reference

“

SetLatch Statement

” and specify a proper port number.

Axis parameter is not specified in

Force_GetForce function or

Force_SetTrigger statement.

Refer to

SPEL+ Language Reference

“

Force_GetForce Function

” and specify a proper setting value.

ComapreType parameter to set judgment condition is not specified in

Force_SetTrigger statement.

Refer to

SPEL+ Language Reference

“

Force_SetTrigger Statement

” and specify a proper parameter.

Form name or system window ID which is subject to operation is not specified in GShow and GClose statements. Specify a valid form name or window ID. For details of window ID, refer to

GUI Builder7.0

manual “

GShow Statement

”.

System window ID which is subject to operation is not specified in GShow and GClose statements. Refer to

GUI Builder7.0

manual “

GShow

Statement

” and specify a proper window ID.

Performance mode is not specified in

PerformMode

parameter of

PerformMode statement, Go, BGo,

TGo, Jump statement. Refer to

SPEL+ Language Reference

“

PerformMode

” and specify a proper performance mode.

Communication protocol setting is not specified in SetNet statement.

Specify UDP or TCP.

I/O type or I/O label is not specified in

IODef function. Specify the I/O label or I/O type to check existence of definition. For details of I/O types, refer to

SPEL+ Language Reference

“

IODef Function

”.

Singularity avoidance mode is not specified in AvoidSingularity statement. Refer to

SPEL+

Language Reference

“

AvoidSingularity Statement

” and specify a proper mode.

Note 1 Note 2

228 RC700 / RC700-A Rev.25

No.

3427

3428

3429

3430

3431

3432

3433

3434

3435

3436

3437

3438

3439

3440

Maintenance 9. Troubleshooting

Note 2 Message

Acceleration value was not specified.

Sorting order for work queue data was not specified.

Remedy

Setting number of acceleration is not specified in AccelR function. Refer to

SPEL+ Language Reference

“

AccelR Function

” and specify a proper setting value.

Setting number of acceleration is not specified in Accel function, AccelMax function, AccelS function, and

RealAccel function. Refer to

SPEL+ Language Reference

“

Accel

Function

” and specify a proper number.

Sorting order for work queue data is not specified in WorkQue_Sort statement. Refer to

SPEL+

Language Reference

“

WorkQue_Sort

Statement

” and specify a proper sorting order.

Coordinate axes number was not specified.

Point or point expression is not specified.

Review the program.

Boolean type array variable was not specified.

Specify a Boolean type array variable.

Real or Double type array variable was not specified.

Specify a Real or Double type array variable.

Integral type array variable was not specified.

Specify an Integral type array variable.

Duration of FCKeep statement is not specified.

Specify the duration.

Part kind of controller was not specified.

Part kind of robot was not specified.

A value other than numerical value is specified for the parameter of the command. Specify a numerical value.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Array which stores a value of

Enabled or LPF_Enabled property must be a Boolean type array variable in FGet statement.

Specify a Boolean array variable.

Real or Double type array variable is not specified in FGet or MPGet statement.

Specify a real or double type array variable.

Array which stores a value of

Polarities property must be an

Integral type array variable in FGet statement.

Specify an integral type array variable.

Duration of force control (timeout value) is not specified in FCKeep statement.

Specify a proper setting value.

Specify the controller part type.

Specify the robot part type.

Specify a numerical value for

AIO_TrackingSet command 7th parameter.

Note 1

RC700 / RC700-A Rev.25 229

Maintenance 9. Troubleshooting

No.

3441

Message

A value other than numerical value is specified for the parameter of the command. Specify a numerical value.

Remedy

Specify a numerical value for

AIO_TrackingSet command 6th parameter.

3450

3451

3452

Force property name or status name is not specified.

Add a property name or a status name.

Force property name, status name, or object name is not specified.

Add either of a property name, status name, or object name.

Force object name is not specified.

Add a force object name.

Force property name or status name is not specified in FSet, FGet,

MPSet, and MPGet statements.

Add a property name or a status name.

Either of Force property name, status name, or object name is not specified in FSet, FGet, MPSet, and MPGet statements.

Add either of a property name, status name, or object name.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

3453

Mass Property Object is not specified.

Specify a Mass Property Object.

Specify a valid Mass Property object.

3454

3455

3456

3457

Force Coordinate System Object is not specified.

Specify a Force Coordinate

System Object.

Force Control Object is not specified.

Specify a Force Control Object.

Force Monitor Object is not specified.

Specify a Force Monitor Object.

Force Trigger Object is not specified.

Specify a Force Trigger Object.

Specify a valid Force Coordinate

System object.

Specify a valid Force Control object.

Specify a valid Force Monitor object.

Specify a valid Force Trigger object.

3458

Force Control data or Force

Coordinate System data is not specified in FCSMove statement.

Specify a valid Force Control object or Force Coordinate System object.

3459 Force object is not specified. Specify a Force object.

3460 Force object label is not specified. Specify a Force object label.

3461

Force Control Object or Force

Coordinate System Object is not specified.

Specify a Force Control Object or

Force Coordinate System Object.

Force object or label is not specified.

Specify a Force object or label.

3462

3463

3464

Force Coordinate System Object or label is not specified.

Specify a Force Coordinate

System Object or label.

Force Control Object or label is not specified.

Specify a Force Control Object or label.

Force Monitor Object or label is not specified.

Specify a Force Monitor Object or label.

Specify a valid Force Coordinate

System object or label.

Specify a valid Force Control object or label.

Specify a valid Force Monitor object or label.

Note 1 Note 2

230 RC700 / RC700-A Rev.25

No.

3465

3466

3467

3468

3469

3470

3471

3472

3473

3474

3475

3476

3477

Maintenance 9. Troubleshooting

Note 2 Message

Force Trigger Object or label is not specified.

Specify a Force Trigger Object or label.

Mass Property Object or label is not specified.

Specify a Mass Property Object or label.

Force Coordinate System Object or label is not specified.

Specify a Force Coordinate

System Object or label.

Force Control Object label is not specified.

Specify a Force Control Object label.

Force Monitor Object label is not specified.

Specify a Force Monitor Object label.

Force Trigger Object label is not specified.

Specify a Force Trigger Object label.

Force Sensor Object label is not specified.

Specify a Force Sensor Object label.

Mass Property Object label is not specified.

Specify a Mass Property Object label.

Mass Property Object label is not specified.

Specify a Mass Property Object label.

Remedy

Specify a valid Force Trigger object or label.

Specify a valid Mass Property object or label.

Specify a valid Force Coordinate

System object or label.

Specify a valid Force Control object label.

Specify a valid Force Monitor object label.

Specify a valid Force Trigger object label.

Specify a valid Force Sensor object label.

Specify a valid Mass Property object label.

Fmag_Axes or Tmag_Axes property setting value is not specified.

Specify a proper setting value.

TriggerMode property setting value is not specified.

Specify a proper setting value.

Operator property setting value is not specified.

Specify a proper setting value.

Orientation property setting value is not specified.

Specify a proper setting value.

Fmag_Axes or Tmag_Axes property setting value is not specified in FSet statement.

Refer to “Fmag_Axes property” or

“Tmag_Axes property” and specify a proper setting value.

TriggerMode property setting value is not specified in FSet statement.

Refer to “TriggerMode property” and specify a proper setting value.

Operator property setting value is not specified in FSet statement.

Refer to “Operator property” and specify a proper setting value.

Orientation property setting value is not specified in FSet statement.

Refer to “Orientation property” and specify a proper setting value.

Note 1

RC700 / RC700-A Rev.25 231

Maintenance 9. Troubleshooting

No. Message

3478

3500

Polarity property setting value is not specified.

Specify a proper setting value.

3501 Macro name was not specified.

3502 Include file name cannot be found.

3503

3504

Duplicate macro in #define statement.

Specified include file is not in the project.

Parameter of the macro function does not match the declaration.

3505 Macro has a circular reference.

Remedy

Fmag_Polarity, Fx_Polarity,

Fy_Polarity, Fz_Polarity,

Tmag_Polarity, Tx_Polarity,

Ty_Polarity, and Tz_Polarity property setting value is not specified in FSet statement.

Specify a proper setting value.

Another macro with the same name has been defined. Change the macro name.

Macro name is not specified in

#define, #ifdef, #ifndef, and #undef statements. Add a macro name.

Include file name is not specified in

#include statement. Add a valid include file name.

The include file that is not registered in the project configuration is specified. Add the include file to the project configuration.

Check the number of parameters and correct the macro function.

The macro has a circular reference.

Correct the circular reference.

Note 1 Note 2

3506

#define, #ifdef, #ifndef, #else,

#endif, #undef and variable declaration statements are only valid in an include file.

Check and correct the content of include file.

3507 Over #ifdef or #ifndef nesting level.

3508

3509

3510 Cannot obtain the macro buffer.

3550

Parameter for the macro function was not specified.

3600

3601

3602

232

Cannot find corresponding #ifdef or

#ifndef.

No #endif found for #ifdef or

#ifndef.

Tracking motion command cannot use Sense parameter.

Parameter type is mismatch for the external function ' ** '.

Check all statements where this function is called in this file.

The specified motion command cannot use LJM parameter.

Limit of the nesting levels is 7 at the maximum. Correct the program so as not to exceed the limit value.

The number of #endif statements that correspond to #ifdef and #ifndef statements is too many. Delete

#endif statements or add the #ifdef and #ifndef statements.

The number of #endif statements that correspond to #ifdef and #ifndef statements is not enough. Add the

# endif statements.

The macro declared as a macro function is called without argument.

Correct the program.

When the queue data is specified in

Jump, Jump3, and Jump3CP statements, Sense parameter cannot be specified. Delete the Sense statement.

LJM parameter cannot be specified in BGo, TGo, Arc, Arc3, BMove,

Move, and TMove statements.

Delete the LJM parameter.

InReal function cannot be used with

Wait statement. Correct the program.

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

3603

3605

3606 Cannot use the index.

3607 Invalid object index was specified.

3608 Invalid control index was specified.

3609

3610

3733

Vision Sequence Name or

Calibration Name was not specified.

3800 Compile process aborted.

3801 Link process aborted.

3802

3803

Compile process aborted.

Compile errors reached the maximum count.

Link process aborted. Link errors reached the maximum count.

3804

Message

InReal function cannot be used with Wait statement.

The specified motion command cannot use PerformMode parameter.

Modifier parameters are duplicated.

Review the program.

Cannot use a keyword for a label name.

Specified command cannot be executed from the Command window.

Remedy

PerformMode parameter cannot be specified in Jump3, Jump3CP, Arc,

Arc3, BMove, Move, and TMove statements. Delete the

PerformMode parameter.

LJM parameter cannot be specified in BGo, TGo, Arc, Arc3, BMove,

Move, and TMove statements.

Delete the LJM parameter.

Index number cannot be specified except List property in GSet and

GGet statements. Correct the program.

Invalid index is specified in Objects property of VSet and VGet statements. The index must be larger than 1 and smaller than the number of objects in the specified sequence. Specify a proper index.

Invalid index is specified in Controls property of GSet and GGet statements. The index must be larger than 1 and smaller than the number of controls in the specified form. Specify a proper index.

Force Guide data or CF parameter is duplicated in CVMove, FCKeep or other statement for robot motion.

Correct the program.

Keywords such as a command or a function are used for a label name.

Change the label name which does not use these keywords.

Vision sequence name or calibration name is not specified in VSet and

VGet statements. Add a sequence name or calibration name.

Correct the error in the program and rebuild the project.

Declaration of variables and functions, program control statement, preprocessor commands, and some commands cannot be executed from the command window. For details, refer to

SPEL+ Language Reference

“

Appendix A

：

SPEL+ Command Use

Condition List

”.

Note 1 Note 2

RC700 / RC700-A Rev.25 233

Maintenance 9. Troubleshooting

No.

3805

3806

3808

3809

3812

Message

Specified command can only be executed from the Command window.

Specified function cannot be executed from the Command window.

Specified syntax cannot be used in the current version.

Module variables cannot be used in the command window.

Specified function cannot be used with a Remote User Output.

Remedy

Brake, SysConfig, Where,

Cnv_QueList, and WorlQue_List statements can only be executed from the command window. Delete these statements from the program.

Use the function in the program.

LJM and PerformMode parameters of motion commands may not be specified depending on the compiler version.

LJM parameter: 6.0.x.x or later

PerformMode parameter: 7.0.4.x or later

Check the compiler version from the project property.

Module variable cannot be accessed from the command window. Check the input command.

Functions for condition expression of the user defined remote output are limited. Refer to

EPSON RC+7.0

User’s Guide

“

11.8 User-defined

Remote Output I/O

” and specify a valid function.

3813

3814

3815

User defined label, function and variable cannot be used with a

Remote User Output.

Object code size is beyond the available size.

Parameter cannot be specified for property or status in the command window.

Delete the parameter and execute again.

3850 File not found.

3851 Point file not found.

3852 I/O label file not found.

3853 User error label file not found.

3854

Force file does not exist.

Check the project folder if the file exists.

User defined label, function and variable cannot be used with condition expression of the userdefined remote output. Correct the condition expression.

A combination of multiple statements is exceeding the available size of the intermediate code which can be executed at once (1024 bytes).

Divide the statements.

When executing FGet or MPGet statement from a command window, a parameter cannot be specified to a property or status.

Delete the parameter and execute again.

Failed to read the point file which configures the project. Check the project folder if the file exists.

Failed to read the I/O label file which configures the project. Check the project folder if the file exists.

Failed to read the user error label file which configures the project. Check the project folder if the file exists.

Failed to read the force file which configures the project. Check the project folder if the file exists.

3860 I/O label file not supported format. Regenerate the I/O label file.

234

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

3861

3862

3863

3864

Message

User error label file has unsupported file format.

Point file has unsupported file format.

Vision project file has unsupported file format.

GUI Builder project file has unsupported file format.

3865 OBJ file not supported format.

3866

Force file has unsupported file format.

Re-create the force file.

Remedy

Regenerate the user error file.

Regenerate the point file.

Regenerate the vision sequence.

Regenerate the GUI Builder form.

Rebuild the project.

Regenerate the force file.

Note 1 Note 2

3870

3871

3872

3873

3874

3875

3876

3877

Cannot specify Mass Property

Object.

Review the program.

Cannot specify Force Coordinate

System Object.

Review the program.

Cannot specify Force Control

Object.

Review the program.

Cannot specify Force Monitor

Object.

Review the program.

Cannot specify Force Trigger

Object.

Review the program.

Cannot specify Force Sensor object.

Review the program.

Cannot specify Robot object.

Review the program.

Cannot specify Force Control

Object and Force Coordinate

System Object at the same time.

Review the program.

Mass Property object cannot be specified in FSet, FGet, FDel, and

FList statements, FDef, and

FLabel$ functions.

Correct the program.

Force coordinate system object cannot be specified in Go, BGo, TGo,

Jump, Jump3, Mode, BMove, TMove,

Arc, Arc3 statement, MPSet, MPGet,

MPDel, MPList statement, and

MPDef, MPLabel$ function.

Correct the program.

Force control object cannot be specified in Go, BGo, TGo, Jump,

Jump3 statement, and MPSet,

MPGet MPDel, MPList statement, and MPDef, MPLabel$ function.

Correct the program.

Force monitor object cannot be specified in MPSet, MPGet, MPDel,

MPList statement, and MPDef,

MPLable$ function. Correct the program.

Force trigger object cannot be specified in MPSet, MPGet, MPDel,

MPList statement, and MPDef,

MPLable$ function. Correct the program.

Force Sensor object cannot be specified in FDel, FList statement,

FDef, FLabel$ function, MPSet,

MPGet, MPDel, MPList statement, and MPDef, MPLabel$ function.

Correct the program.

Robot object cannot be specified in

FDel, FList statement, FDef,

FLabel$ function, MPSet, MPGet,

MPDel, MPList statement, and

MPDef, MPLabel$ function.

Correct the program.

Force control object and Force coordinate system object cannot be specified at the same time in

FCSMove statement.

Correct the program.

RC700 / RC700-A Rev.25 235

Maintenance 9. Troubleshooting

No. Message

3878

Cannot specify CF parameter.

Delete the CF parameter.

3879

3880

3881

3882

Cannot specify Mass Property

Object label.

Review the program.

Cannot specify Force Coordinate

System Object label.

Review the program.

Cannot specify Force Control

Object label.

Review the program.

Cannot specify Force Monitor

Object label.

Review the program.

3883

3884

3885

3886

3887

3888

3889

3890

Cannot specify Force Trigger

Object label.

Review the program.

Cannot specify Force Sensor

Object label.

Review the program.

Cannot specify Mass Property

Object number.

Review the program.

Cannot specify Force Coordinate

System Object number.

Review the program.

Cannot specify Force Control

Object number.

Review the program.

Cannot specify Force Monitor

Object number.

Review the program.

Cannot specify Force Trigger

Object number.

Review the program.

Cannot specify Force Sensor

Object number.

Review the program.

3891

Type of the specified two objects does not match.

Specify the same type of the objects.

3900

Cannot obtain the internal communication buffer.

3901 Buffer size is not enough.

3910

3911

Undefined command was specified.

Cannot enter the file name in the file name buffer.

236

Remedy

CF parameter cannot be specified in

Go, BGo, TGo, Jump, Jump3.

Delete the CF parameter.

Mass property object label cannot be specified in MPDel, and MPList statements.

Correct the program.

Force coordinate system object label cannot be specified in FDel and FList statements.

Correct the program.

Force control object label cannot be specified in FDel and FList statements.

Correct the program.

Force monitor object label cannot be specified in FDel and FList statements.

Correct the program.

Force trigger object label cannot be specified in FDel and FList statements.

Correct the program.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Mass property object number cannot be specified in MPNumber function.

Correct the program.

Force coordinate system object number cannot be specified in

FNumber function.

Correct the program.

Force control object number cannot be specified in FNumber function.

Correct the program.

Force monitor object number cannot be specified in FNumber function.

Correct the program.

Force trigger object number cannot be specified in FNumber function.

Correct the program.

Note 1 Note 2

The data type of the first and the second parameter does not match in

FDel, FList, MPDel, MPList statements.

Correct the program.

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No. Message

3912

Cannot obtain the internal buffer.

3913

Cannot set priority.

3914 Invalid ICode.

3915 Invalid ICode.

3916 Invalid ICode.

3917 Invalid ICode.

3918 Invalid ICode.

3919 Invalid ICode.

3920 Invalid ICode.

3921 Invalid ICode.

3930

3931

3932

VDefTool Type ID is not specified.

VDefArm Type ID is not specified.

VDefArm ArmSetMode is not specified.

Remedy

Reboot the controller.

Rebuild the project.

Specify a numerical value for

VDefTool command 2nd parameter.

Specify a numerical value for

VDefArm command 2nd parameter.

Specify a numerical value for

VDefArm command 3rd parameter.

3933 VDefLocal Type ID is not specified. Specify a numerical value for

3934

3940

VDefLocal CalibPlate Type ID is not specified.

LatchPos Type ID is not specified.

Specify a numerical value for

VDefLocal command 3rd parameter.

Specify a numerical value for

LatchPos command 1st parameter.

3960

3961

Neither Robot, Object nor

ResetCollision were specified.

Neither Hand nor Property were specified.

3962

Invalid Property was specified.

3963

3964

Neither Robot nor Object were specified.

Invalid Object was specified.

3965

Invalid Object index was specified.

3990

Analog I/O TCPSpeed Type is not specified.

Specify a numerical value for

AIO_Set command 3rd parameter.

Note 1 Note 2

RC700 / RC700-A Rev.25 237

Maintenance 9. Troubleshooting

No.

4001

Message

Arm reached the limit of motion range.

Remedy

Check the point to move, current point, and Range setting.

4002

Specified value is out of allowable range.

Review the setting parameters.

4003

4004

4005

4006

4007

4008

4009

4010

4011

4012

4013

4014

4016

4018

4021

4022

4023

Motion device driver failure.

Communication error within the motion control module.

Motion device driver failure.

Event waiting error within the motion control module.

Current point position is above the specified LimZ value.

Target point position is above the specified LimZ value.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Lower the Z axis. Increase the specified LimZ value.

Lower the Z coordinate position of the target point. Increase the specified

LimZ value.

Coordinates conversion error.

The end/mid point is out of the motion area. Jogging to the outside of the motion area.

Check whether the coordinate out of the motion range is not specified.

Current point position or specified

LimZ value is out of motion range. Change the specified LimZ value.

Motion device driver failure.

Timeout error within motion control module.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Specified Local coordinate was not defined.

Arm reached the limit of XY motion range specified by XYLim statement.

Upper limit value of Box is smaller than the lower limit value.

Change the upper and lower limit values.

Define the Local coordinate system.

Check the area limited by the XYLim statement.

Set the upper limit value to be larger than the lower limit value.

Motion control module internal calculation error.

MCAL was not completed.

SFree statement was attempted for prohibited joint(s).

Communication error within the motion control module. Check sum error.

Point positions used to define the

Local are too close.

Point coordinate data used to define the Local is invalid.

Cannot execute when the motor is in the off state.

Calculation of the timing of Arch motion failed. Perform either of the following:

- Check and modify Arch parameter

- Disable Arch

Execute MCal. Make sure the

MCOdr is set for the joint connected to the PG board.

Due to robot mechanistic limitation, setting some joint(s) to servo free status is prohibited. Check the robot specifications.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Set the distance between points more than 1μm.

Match the coordinate data for the points to be specified.

Turn the motor power ON and then execute.

Note 1 Note 2

The parameter causing the error

Local number

238 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

4024

4025

4026

4028

4030

4031

4032

4033

4034

4035

4036

4037

4038

4039

4041

4042

4043

4044

Message

Cannot complete the arm positioning using the current Fine specification.

Cannot execute a motion command during emergency stop condition.

Communication error within the motion control module. Servo I/F failure.

Communication error within the motion control module. Device driver status failure.

Buffer for the average torque calculation has overflowed.

Shorten the time interval from Atclr to Atrq.

Cannot execute a motion command when the motor is in the off state.

Cannot execute a motion command when one or more joints are in SFree state.

The specified command is not supported for Pulse Generator

Board joints.

Specified command is not supported for this robot model.

Only the tool orientation was attempted to be changed by the

CP statement.

Rotation speed of tool orientation by the CP statement is too fast.

Remedy

Check whether the robot does not generate vibration or all parts and screws are secured firmly. Increase the Fine setting value.

Clear the emergency stop condition and execute the motion command.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Shorten the time interval from Atclr to

Atrq less than about two minutes.

Turn the motor power ON and then execute the motion command.

Set all joints to the SLock state and execute the motion command.

The specified command is not permitted for the joints with PG board.

Remove the unsupported command from the program.

Set a move distance between points.

Use the ROT modifier, SpeedR statement, and AccelR statement.

Decrease the setting values for the

SpeedS and AccelS statements.

Use the ROT modifier, SpeedR statement, and AccelR statement.

Match the point attribute.

The point attribute of the current and target point positions differ for executing a CP control command.

Two point positions are too close to execute the Arc statement.

Three point positions specified by the Arc statement are on a straight line.

Motion command was attempted to the prohibited area at the backside of the robot.

Motion device driver failure.

Cannot detect the circular format interruption.

Specified command is not supported for this robot model or this joint type.

Curve failure. Specified curve form is not supported.

Set the distance between points more than 1μm.

Use the Move statement.

Check the robot motion range.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Remove the unsupported command from the program.

Create a Curve file again with the

Curve statement.

Note 1 Note 2

RC700 / RC700-A Rev.25 239

Maintenance 9. Troubleshooting

No.

4045

4046

4047

4048

Message

Curve failure. Specified mode is not supported.

Curve failure. Specified coordinate number is out of the allowable range.

Curve failure. Point data was not specified.

Curve failure. Parallel process was specified before the point designation.

Curve failure. Number of parallel processes is out of the allowable range.

Remedy

Specify the Curve mode properly.

Create a Curve file again with the

Curve statement.

The number of the available coordinate axes is 2, 3, 4, and 6.

Create a Curve file again with the

Curve statement.

Create a Curve file again with the

Curve statement.

Create a Curve file again with the

Curve statement.

4049

4050

Curve failure. Number of points is out of the allowable range.

Create a Curve file again with the

Curve statement.

The number of available point numbers differs according to the curve form. Check the number of points again.

Match the local and point flag for all the specified points.

4051

4052

4053

4054

4055

4056

4058

4059

4060

4061

4062

4063

Curve failure. Local attribute and the point attribute of all specified points do not match.

Curve failure. Not enough memory to format the curve file.

Curve failure. Failed to format the curve file.

Curve failure. Curve file error

Curve failure. No distance for curve file movement.

Curve failure. Point positions for the Curve statement are too close.

Prohibited command while tracking was executed.

Executed encoder reset command while the motor is in the on state.

Executed an invalid command while the motor is in the on state.

Specified parameter is in use.

Orientation variation is over 360 degrees.

Orientation variation of adjacent point is over 90 degrees.

Reboot the controller.

Review the point data. Check whether adjacent two points do not overlap on the specified point line.

The Curve file is broken. Create a

Curve file again with the Curve statement.

Review the point data.

Set the distance between two points adjacent to the specified point more than 0.001 mm.

Remove the prohibited command from the program.

Turn the motor power OFF.

You attempted to clear the currently specified Arm and Tool.

Select other Arm and Tool and execute.

You attempted to rotate the joint #J6 more than 360 degrees with a CP motion command.

On the specified point line by the

Curve statement, set the orientation variation of U, V, and W coordinate values between two adjacent points to under 90 degrees.

Note 1 Note 2

240 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

4064

4065

Message

Cannot execute the orientation correction automatically.

Attempt to revolve J6 one rotation with the same orientation in CP statement.

Remedy

On the specified point line, a curve cannot be created by automatic orientation correction.

Change the specified point line so that the joint #J6 orientation variation decreases.

You attempted to rotate the joint #J6 more than 360 degrees with a CP motion command. You attempted to revolve the joint 6 one rotation with the same as motion start orientation.

Change the target point so that the joint #J6 revolves less than one rotation.

You attempted to move the joints to the robot's interference limited area.

Delete the ROT from the CP motion command.

Note 1

4066

4068

4069

4070

4071

Motion command was attempted in the prohibited area depended on joint combination.

ROT modifier parameter was specified for the CP motion command without orientation rotation.

Specified ECP without selecting

ECP in CP statement.

Specified ECP number does not match the ECP number used in curve file creation.

Attempted motion command during electromagnetic brake lock condition.

Initialization failure. Hardware monitor was not initialized.

Specify a valid ECP.

Release the electromagnetic brake

4072

4073

Orientation variation of adjacent point is over 90 degrees.

4074

Motor type does not match the current robot setting.

4075 Option is not active.

4076

4077

4078

4079

4080

Point positions used to define the

Plane are too close.

Point coordinate data used to define the Plane is invalid.

Only the additional ST axis was attempted to be changed by the

CP statement.

Speed of additional ST axis by the

CP statement is too fast.

Cannot execute when the Enable

Switch is OFF.

4081

Error was detected during operation.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Any of U, V, or W changes 90 degrees or more. Change the point or the orientation.

Check whether the specified robot model is connected.

Enable the option.

Set the distance between points more than 1 μm.

Match the coordinate data for the points to be specified.

Use PTP motion commands in order to move the additional axis only.

Reduce the set values of SpeedS and AccelS.

Turn the Enable Switch ON and then execute.

Check the PG board.

Check the connection with the motor driver.

Replace the PG board.

Replace the controller.

Note 2

RC700 / RC700-A Rev.25 241

Maintenance 9. Troubleshooting

No. Message

4082

Pulse Generator Board error was detected during operation.

4083 MCAL did not complete in time.

4084

4085

4086

4087

4089

4090

4091

4092

4093

Limit Sensor error was detected during operation.

Failed to change to specified location.

Cannot execute because it is not dry run mode.

Failed to format the playback file.

The time interval from

HealthRBStart to HealthRBStop is too long or too short.

HealthRBStop is executed without

HealthRBStart.

Specified analog I/O channel does not exist.

Specified analog output channel is used for a speed data output.

If the motion is paused during the singularity-avoiding, the motion cannot resume. Abort the motion command.

Remedy

Check the PG board.

Check the connection with the motor driver.

Replace the PG board.

Set PG parameter so that MCAL can complete within 120 seconds.

Check the limit sensor.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Change to the dry run mode and execute.

Check the amount of free space of the computer.

Reboot the computer.

Reinstall the RC+.

Replace the computer.

Set the time interval from

HealthRBStart to HealthRBStop to be within 1 to 3600 seconds.

Execute HealthRBStop after executing HealthRBStart.

This error also occurs when

HealthRBStop is executed again without executing HealthRBStart after

HealthRBStop.

Check the channel number. Mount the analog I/O option board.

Execute after stopping the speed output of the specified channel.

Abort the motion command.

Note 1

4094

4096

4099

The current position is out of the motion range.

Robot in use.

Cannot execute the motion command when other tasks are using the robot.

Servo error was detected during operation.

Either J1 or J2 axis is out of the motion range. Follow the procedures below and move the robot within the motion range.

・

Use Pulse command and JTran to move the robot within the motion range.

・

Move the robot within the motion range manually.

(This error only occurs in RS series and N series.)

The motion command for the robot cannot be simultaneously executed from more than one task. Review the program.

This error cannot be recovered automatically by OnErr.

Check if a 5000 number error is occurring in the system history. If the error is occurring, take measures for a 5000 number error.

242

Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

4100

4101

4103

4104

4108

4150

4151

4152

4153

4154

4180

4181

4182

4183

4187

Message

Communication error in motion control module. Cannot calculate the current point or pulse.

Communication error in the motion control module. Cannot calculate the current point or pulse.

Initialization failure. Motion control module initialization error.

Positioning timeout of the joint connected to the Pulse Generator

Board.

Initialization failure.

Motor unit connection error.

Remedy

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Cannot receive the positioning completion signal (DEND) from the servo motor connected to PG board.

Check the wiring of the motor unit.

Redundant input signal failure of the emergency stop.

Redundant input signal failure of the safeguard.

Relay welding error of the main circuit.

Redundant input signal failure of the enable switch.

Temperature of regeneration resistor was higher than the specified temperature.

Robot initialization failure.

Specified robot was is not found

Robot initialization failure.

Specified robot was in use by another task.

Robot initialization failure. Robot name is too long.

Robot initialization failure. Robot data version error.

Robot initialization failure.

Communication error with the module: VSRCMNPK.

The input status of the redundant emergency stop input continuously differs for more than two seconds.

Check whether no disconnection, earth fault, or short-circuit of the emergency stop input signal exits.

Then reboot the controller.

The input status of the redundant emergency stop input continuously differs for more than two seconds.

Check whether no disconnection, earth fault, or short-circuit of the emergency stop input signal exits.

Then reboot the controller.

A relay welding error was detected due to power system over current.

Replace the controller.

Replace the robot.

The input status of the redundant enable signal differs continuously for more than two seconds.

Check the TP connector connection.

Replace the TP.

Replace the controller.

Robot’s Duty is too high. Lengthen the waiting time or reduce the Accel value. If the error occurs although

Duty was lowered, replace the DPB.

Configure the manipulator.

Specified manipulator cannot be configured since it is already configured.

Shorten the manipulator name.

Reconfigure the manipulator.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Note 1 Note 2

RC700 / RC700-A Rev.25 243

Maintenance 9. Troubleshooting

No. Message

4188

4189

4191

4192

4210

4211

4212

4213

4214

4215

4216

4217

4218

Robot initialization failure. Joint angle interference matrix is invalid.

Robot initialization failure.

Communication error with the module: VSRCMC.

Robot initialization failure.

Physical-logical pulse transformation matrix is invalid.

Robot initialization failure.

Communication error with the servo module.

RAS circuit detected a servo system malfunction. Reboot the controller. Check for noise.

Replace the controller.

Servo CPU internal RAM failure.

Reboot the controller. Check for noise. Replace the DMB.

RAM for the main and servo CPU communication failure. Reboot the controller. Check for noise.

Replace the DMB.

Servo CPU internal RAM failure.

Reboot the controller. Check for noise. Replace the DMB.

Initialization communication of main CPU and servo CPU failure.

Reboot the Controller. Check for noise. Replace DMB.

Initialization communication of the main and servo CPU failure.

Reboot the controller. Check for noise. Replace the DMB.

Communication of the main and servo CPU failure. Reboot the controller. Check for noise.

Replace the DMB.

Communication of the main and servo CPU failure. Reboot the controller. Check for noise.

Replace the DMB.

Servo long time command overrun.

4219

4220

Servo long time command check sum error.

System watchdog timer detected a failure. Reboot the controller.

Check for noise. Replace the

DMB.

4221 Drive unit check failure.

Remedy

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller, take the measure against noise, or replace the

DMB.

Reboot the controller, take the measure against noise, or replace the

DMB.

Reboot the controller, take the measure against noise, or replace the

DMB.

Reboot the controller, take the measure against noise, or replace the

DMB. For T series, it is not DMB but

CPU board.

Reboot the controller, take the measure against noise, or replace the

DMB. For T series, it is not DMB but

CPU board.

Reboot the controller, take the measure against noise, or replace the

DMB.

Reboot the controller, take the measure against noise, or replace the

DMB. For T series, it is not DMB but

CPU board.

Reboot the controller, take the measure against noise, or replace the

DMB. For T series, it is not DMB but

CPU board.

Reboot the controller, take the measure against noise, or replace the

DMB.

Reboot the controller, take the measure against noise, or replace the

DMB.

Reboot the controller, take the measure against noise, or replace the

DMB. For T series, it is not DMB but

CPU board.

Reboot the controller, take the measure against noise, or replace the

DMB.

Note 1

244

Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

4222

4223

4224

4225

Message

RAM failure of the servo CPU.

Reboot the controller. Check for noise. Replace the DMB.

Failure of duplicate circuit of the emergency stop or the safeguard.

Check the wiring.

Low voltage of the main circuit power supply is detected. Check the power supply voltage.

Reboot the controller.

Control relay contact of the main circuit power supply is welded.

Replace the DPB.

Detect the recognition mismatch of the sub CPU and main CPU.

Remedy

Reboot the controller, take the measure against noise, or replace the

DMB.

Check the wiring of the emergency stop or the safeguard.

Check the power supply voltage, or reboot the controller.

Replace the DPB.

4226

4227

4228

4230

4232

4233

4240

Temperature of regeneration resistor was higher than the specified temperature.

Over voltage of the sub CPU.

Servo real time status failure.

Check sum error.

Servo real time status failure.

Free running counter error with the servo.

Servo real time status failure.

Communication error with the servo CPU.

Irregular motion control interruption was detected.

Interruption duplicate.

Reboot the controller, take the measure against noise, or replace the

CPU board.

Specify the Weight/Inertia setting.

Check the load.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Replace the DPB board.

A data checksum error was detected in the controller.

Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors)

Replace the controller.

A free running counter error was detected in the controller.

Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors)

Replace the controller.

A communication error was detected in the controller.

Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors)

Replace the controller.

A interruption error was detected in the controller.

Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors)

Replace the controller.

Note 1 Note 2

RC700 / RC700-A Rev.25 245

Maintenance 9. Troubleshooting

No. Message

4241

4242

4243

4248

4250

4251

4252

4255

4256

Over speed during low power mode was detected.

Improper acceleration reference was generated.

Improper speed reference was generated in high power mode.

Remedy

The robot over speed was detected during low power mode.

Check the robot mechanism.

(Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check whether the robot does not interfere with peripheral equipment.

(Collision, contact)

Replace the motor driver.

Replace the motor. (Motor and encoder failure)

Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors)

You attempted to operate the robot with the acceleration reference exceeding the specified value.

For a CP motion, decrease the

AccelS value.

The robot over speed was detected during high power mode.

Check the robot mechanism.

(Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check whether the robot does not interfere with peripheral equipment.

(Collision, contact)

Replace the motor driver.

Replace the motor. (Motor and encoder failure)

Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors)

Set a relay point. Or change the target point.

Check whether a CP motion trajectory is within the motion range.

Note 1

The robot collides with itself.

Please change the target position.

Arm reached the limit of motion range during the operation.

Arm reached the limit of XY motion range specified by XYLim during the operation.

Coordinate conversion error occurred during the operation.

Because SpeedS is too big, the robot cannot pass elbow specific posture

When a robot passed elbow specific posture, Stop or Pause were carried out

Check the XYLim setting.

Check whether a CP motion trajectory is within the motion range.

Reduce the SpeedS value.

Do not execute Stop or Pause.

4257

The robot cannot pass Singularity

Area of Elbow

The robot cannot pass the elbow singularity area.

To pass the elbow singularity area, use SING_AVOID of

“AvoidSingularity”.

Note 2

246 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

4261

4262

4263

4267

4268

4269

4270

4271

4272

4273

4274

Message

The Arm reached the limit of motion range in conveyor tracking.

The Arm reached the limit of XY motion range in conveyor tracking.

The Arm reached the limit of pulse motion range in conveyor tracking.

Attempt to exceed the J4Flag attribute without indication.

Attempt to exceed the J6Flag attribute without indication.

Attempt to exceed the particular wrist orientation attribute without indication.

Attempt to exceed the particular arm orientation attribute without indication.

Attempt to exceed the particular elbow orientation attribute without indication.

Specified point flag is invalid.

J6Flag switched during the lift motion in conveyor tracking.

Specified J6Flag is not reached.

Change J6Flag for target point.

Remedy

Place the conveyor inside the motion range. Meanwhile, allow the tracking range for the deceleration when switching from tracking motion to non-tracking.

If error occurs during the shift from tracking motion, it may be prevented by increasing the accel speed to complete the tracking motion.

You attempted to exceed the J4Flag attribute during motion without the

J4Flag indication.

Change the J4Flag for the target point.

You attempted to exceed the J6Flag attribute during motion without the

J6Flag indication.

Change the J6Flag for the target point.

You attempted to exceed the particular wrist orientation attribute during motion without the Wrist indication.

Change the Wrist attribute for the target point.

Change the target point to avoid a particular wrist orientation.

You attempted to exceed the particular hand orientation attribute during motion without the Hand indication.

Change the Hand attribute for the target point.

Change the target point to avoid a particular hand orientation.

You attempted to exceed the particular elbow orientation attribute during motion without the Elbow indication.

Change the Elbow attribute for the target point.

Change the target point to avoid a particular elbow orientation.

For a CP motion command, the arm form at the target point is different from the point flag specified with the target point.

Change the point flag for the target point.

Adjust the Tool orientation so that

J6Flag will not switch.

For a CP motion command, the manipulator reached to the target point with J6Flag which differs from the one specified for the target point.

Change J6Flag for the target point.

Note 1 Note 2

RC700 / RC700-A Rev.25 247

Maintenance 9. Troubleshooting

No. Message

4275

4276

4277

4278

4279

4291

4292

4297

4298

4301

4302

4401

4402

4403

Specified J4Flag is not reached.

Change J4Flag for target point.

Specified ArmFlag is not reached.

Change ArmFlag for target point.

Specified Elbow Flag is not reached. Change Elbow Flag for target point.

Specified WristFlag is not reached. Change WristFlag for target point

Specified J1Flag is not reached.

Change J1Flag for target point.

Data sending failure in motion network.

Data receiving failure in motion network.

Data sending failure of Force

Sensor I/F board.

Check connection of the Force

Sensor I/F board and Force

Sensor.

Data receiving failure of Force

Sensor I/F board.

Check connection of the Force

Sensor I/F board and Force

Sensor.

The Pulse Generating Board detected a limit signal.

The Pulse Generating Board detected an alarm signal.

The specified conveyor number is invalid.

The specified conveyor queue is full.

Continue operation cannot be done in tracking motion.

Remedy

For a CP motion command, the manipulator reached to the target point with J4Flag which differs from the one specified for the target point.

Change J4Flag for the target point.

For a CP motion command, the manipulator reached to the target point with ArmFlag which differs from the one specified for the target point.

Change ArmFlag for the target point.

For a CP motion command, the manipulator reached to the target point with ElbowFlag which differs from the one specified for the target point.

Change ElbowFlag for the target point.

For a CP motion command, the manipulator reached to the target point with WristFlag which differs from the one specified for the target point.

Change WristFlag for the target point.

For a CP motion command, the manipulator reached to the target point with J1Flag which differs from the one specified for the target point.

Change J1Flag for the target point.

Check the connection of the cable for

Drive Unit.

Check the connection of the cable for

Drive Unit.

Check connection of the Force

Sensor I/F board and Force Sensor.

Reboot the controller.

Please inquire with us if a similar error occurs even after rebooting the controller.

Check connection of the Force

Sensor I/F board and Force Sensor.

Reboot the controller.

Please inquire with us if a similar error occurs even after rebooting the controller.

Reset and then execute the next motion.

Release the alarm of the pulse motor driver.

Review the conveyor number.

The number of registration reached the upper limit (1000 pcs.) Delete the queue.

Tracking motion cannot be continued after aborted/paused?

Note 1 Note 2

248 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

4404

4405

4406

4407

4409

4410

4411

4413

4414

Message

The specified conveyor queue data does not exist.

The conveyor is not correctly initialized.

The encoder is not correctly assigned.

The parameter of the conveyor instruction is invalid.

A conveyor coordinates conversion error occurred.

Communication error within the

Conveyor Modules.

4415

The setting of Diagonal Upstream

Limit or Diagonal Downstream

Limit is not appropriate.

4500

The specified queue data is outside the set area.

Conveyor tracking starting error.

Conveyor tracking cannot start after motion with CP ON.

Cannot execute the specified functions at the same time.

Note 1, 2: Type of the functions.

Review the program.

Remedy

Review the queue number. Or, check whether the queue is registered.

Rebuild the project.

Delete the conveyor and then reestablish the setting.

The queue outside of the range cannot be tracked. If the specified queue is above the upstream limit, change the program so that tracking does not start until the queue enters the area below the upper limit. If the specified queue is below the downstream limit, change the program to delete the queue data.

Set the encoder.

Note 1 Note 2

Review the parameter.

Rebuild the project.

Delete the conveyor and then reestablish the setting.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Start the conveyor tracking using

CP OFF.

The diagonal downstream limit is above the upstream limit, or the diagonal upstream/downstream limit is horizontal to the conveyor direction. Review the setting of diagonal upstream/downstream limit.

Review the program.

Type of the functions

1: External control point motion

(ECP)

2: Torque control

3: Conveyor tracking

4: Force control function

5: FCSMove

6: Distance tracking function

Type of the functions

* Same as

Note 1

RC700 / RC700-A Rev.25 249

Maintenance 9. Troubleshooting

No.

4501

4502

4503

4504

4601

4602

4603

4604 function. specified.

Message

Device is in use.

Note 1: Type of the device.

Check whether other commands are using the device.

Cannot execute this command during the control function.

Note 1: Type of the control

Exit the control function.

An undefined parameter was

Note 1: Type of the parameter.

Check the parameter.

Option is not enabled.

Check the option setting.

Failed to initialize the motion.

Reboot the controller.

Motion calculation error.

Reboot the controller.

Sensor value is out of range.

Check the sensor.

Approached the singularity point.

Avoid the singularity point.

Check whether the control function is executed in other task or command

Exit the control function to execute the command.

Remedy

Check whether the device is used in other task or command.

Check whether the parameter is set.

Set the parameter.

Enable the option.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Check the measured value by the sensor.

Check the status of the sensor.

Check the range setting of the sensor.

When Note 1 is 1 (sensor used by the distance tracking function), check and adjust the parameter specified by

AIO_TrackingStart or

AIO_TrackingSet.

Check whether the coordinates near the singularity is specified.

Check whether the robot moves closer to the singularity during the operation.

Review the installation position of the robot.

Type of the sensor

1: Sensor used by the distance tracking function

Note 1

Type of the device

1: Analog

I/O input channel

Type of the control function

1: Distance tracking function

Type of the parameter

Parameter of the distance tracking function

Note 2

250 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5000

5001

5002

5003

5004

5005

Message

Servo control gate array failure.

Check the DMB.

Disconnection of the parallel encoder signal. Check the signal cable connection or the robot internal wiring.

Motor driver is not installed.

Install the motor driver. Check the DMB or the motor driver.

Initialization communication failure of incremental encoder. Check the signal cable connection and the robot setting.

Initialization failure of absolute encoder. Check the signal cable connection or the robot setting.

Encoder division setting failure.

Check the robot setting.

Remedy

Check the short-circuit and improper connection of the peripheral equipment wiring.

(Emergency and I/O connectors)

Replace the DMB.

Replace the additional axis unit.

For T series, reboot the controller, take the measure against noise, and replace the

CPU board and motor unit.

Check the M/C cable signal.

Check the robot signal wiring.

(Missing pin, disconnection, short-circuit)

Replace the motor.

Replace the DMB.

Check the connector connection in the controller. (Loosening, connecting to the serial encoder terminal on the DMB)

Check the model setting.

Check the peripheral equipment wiring. (Emergency and I/O)

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Check whether the motor driver is mounted.

Check the model setting and hardware setting.

Replace the motor driver.

Replace the DMB.

For T series, check the wiring of the motor unit.

Check the model setting.

Replace the motor. (Encoder failure)

Replace the DMB.

For T series, reboot the controller, take the measure against noise, and replace the

CPU board and motor unit.

Check the model setting.

Replace the motor. (Encoder failure)

Replace the DMB.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Check the model setting.

Note 1 Note 2

RC700 / RC700-A Rev.25 251

Maintenance 9. Troubleshooting

No. Message

5006

5007

5008

5009

5010

5011

5012

Data failure during absolute encoder initialization. Check the signal cable connection, the controller, or the motor.

Remedy

Replace the motor.

Replace the DMB. (Encoder failure)

Check the noise countermeasures.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Reset the encoder.

Replace the motor.

Absolute encoder multi-turn is beyond the maximum range.

Reset the encoder.

Position is out of the range.

Reset the encoder.

No response from the serial encoder. Check the signal cable connection, the motor, the DMB, or the encoder IF board.

Serial encoder initialization failure.

Reboot the controller.

Check the motor, the DMB, or the encoder IF board.

Serial encoder communication failure. Reboot the controller.

Check the motor, the DMB, or the encoder IF board.

Servo CPU watchdog timer failure.

Reboot the controller. Check the motor or the DMB.

Reset the encoder.

Replace the DMB.

Replace the motor.

Check the model setting.

(Improperly setting of the parallel encoder model)

Check the signal cable connection.

Replace the DMB and encoder

I/F board.

Check the robot configuration.

Check the signal cable connection.

Replace the DMB and encoder

I/F board.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Check the robot configuration.

Check the signal cable connection.

Replace the DMB and encoder

I/F board.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Replace the DMB.

Check the noise countermeasures.

For T series, check the connection of the signal cable.

Reboot the controller, take the measure against noise, and replace the motor unit.

Note 1 Note 2

252 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5013

Message

Current control circuit WDT failure.

Reboot the controller. Check the controller.

Remedy

Check the power cable connection.

Check the 15V power supply and cable connection.

Replace the DMB.

Check the noise countermeasures.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Note 1 Note 2

5014 The DMB is not for this robot.

Check robot setting.

Replace with the supported DMB.

5015

5016

5017

5018

5019

5020

5021

5022

Encoder is reset. Reboot the controller.

Power supply failure of the absolute encoder. Replace the battery. Check the robot internal wiring.

Backup data failure of the absolute encoder. Reset the encoder.

Absolute encoder battery alarm.

Position failure of the absolute encoder. Reset the encoder.

Replace the motor.

Speed is too high at controller power ON. Stop the robot and reboot the controller.

Absolute encoder overheat.

R/D transducer failure. Reset the encoder. Check resolver board or the robot internal wiring.

Reboot the controller.

Reset the encoder.

Check the signal cable connection.

Reset the encoder.

Check the signal cable connection.

Replace the battery.

Check the signal cable connection.

Reset the encoder.

Replace the motor. (Encoder failure)

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Reboot the controller.

Reset the encoder.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Check the interference with the other devices.

Lower the motion duty.

Wait until the temperature of the encoder decreases.

Reset the encoder.

Check the signal wiring of the manipulator (loose pin, disconnection, short).

Replace the resolver board.

RC700 / RC700-A Rev.25 253

Maintenance 9. Troubleshooting

No. Message

5023

G sensor communication failure.

Check for the signal cable connection or manipulator internal wiring.

Remedy

Check the signal wiring connection.

Check the signal wiring of the manipulator (loose pin, disconnection, short).

Check the noise countermeasure.

Replace the control board.

Replace the DMB.

5024

G sensor data error.

Check for the control board.

Replace the control board.

5025

5026

5027

5028

5029

5030

5031

5032

Gap occurred between multi-turn data and R/D conversion data.

Encoder reset.

Disconnection of the resolver excitation signal. Reset the encoder. Check the resolver board or the robot internal wiring.

S-DSP detected the communication error in DSP.

Check for DMB.

Current feedback data error is detected.

Check for DMB.

D-DSP communication failure.

Check the DMB.

Speed is too high at controller power OFF. Reset the encoder.

Speed is too high.

Reset the encoder.

Excess the calculation amount

Servo alarm A.

Reset the resolver.

Check the noise countermeasure.

Replace the resolver board.

Check the signal wiring of the manipulator (loose pin, disconnection, short).

Replace the resolver board.

Reboot the controller.

Check the noise countermeasure.

Replace the DMB.

Reboot the controller.

Check the noise countermeasure.

Replace the DMB.

For T series, check the shortcircuit and earth fault of the power cable. Reboot the controller or replace the motor unit.

Reboot the controller.

Check the noise countermeasure.

Replace the DMB.

Reset the encoder.

Replace the motor.

Reset the encoder.

Replace the motor.

For T series, reboot the controller and replace the motor unit.

Reboot the controller.

Note 1 Note 2

254 RC700 / RC700-A Rev.25

No. Message

5040

Motor torque output failure in high power state. Check the power cable connection, the robot, the driver or the motor.

5041

Motor torque output failure in low power state. Check the power cable connection, robot, brake, driver, or motor.

Maintenance 9. Troubleshooting

Note 2 Remedy

Specify the Weight/Inertia setting.

Check the load.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Note 1

RC700 / RC700-A Rev.25 255

Maintenance 9. Troubleshooting

No. Message

5042

Position error overflow in high power state. Check the power cable connection, the robot, the driver and the motor.

5043

Position error overflow in low power state. Check the power cable connection, robot, brake, driver, or motor.

Remedy

Specify the Weight/Inertia setting.

Check the load.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Note 1 Note 2

256 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5044

5045

Speed error overflow in low power state. Check the power cable connection, robot, brake, drive, or motor.

Message

Speed error overflow in high power state. Check the power cable connection, robot, brake, driver, or motor.

Remedy

Specify the Weight/Inertia setting.

Check the load.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Note 1 Note 2

RC700 / RC700-A Rev.25 257

Maintenance 9. Troubleshooting

No. Message

5046

5047

Over speed in high power state.

Check the signal cable connection, robot, brake, driver or motor.

Over speed in low power state.

Check the signal cable connection, robot, brake, driver, or motor.

Remedy

Reduce SpeedS of the CP motion. Change the orientation of the CP motion.

Specify the Weight/Inertia setting.

Check the load.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Check the motion in high power state.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

For T series, replace the CPU board and motor unit in addition to the above.

Note 1 Note 2

258 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5048

5049

5050

5051

5054

5055

5056 module.

Message

Over voltage of the main power circuit. Check the main power voltage or the regeneration

Over current of the motor driver.

Check the power cable connection or the robot internal wiring.

Over speed during torque control.

Check the work motion speed range.

15V PWM drive power supply failure. Reboot the controller.

Replace the 15V power supply.

Overload of the motor. Decrease the motion duty and the Accel.

Overload of the motor. Decrease the operation duty and the Accel.

G sensor data has changed rapidly. Check the control board.

Remedy

Specify the Weight/Inertia setting.

Check the load.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Check the robot power wiring.

(Missing pin, disconnection, short-circuit)

Check the power supply voltage.

(Low power supply voltage)

Replace the motor driver.

Replace the DMB.

Replace the motor.

Check the short-circuit and earth fault of the power line.

Replace the motor driver.

Replace the DMB.

For T series, check the shortcircuit and earth fault of the power cable.

Reboot the controller or replace the motor unit.

Check the motion speed during torque control.

Check the 15V power supply and cable connection.

Replace the motor driver.

Replace the DMB.

Lower the motion duty.

Check the Weight/Inertia setting.

Check the robot. (Backlash, large load, loose belt tension, brake)

Lower the motion duty.

Check the Weight/Inertia setting.

Check the robot. (Backlash, large load, loose belt tension, brake)

Check the noise countermeasure.

Replace the control board.

Note 1 Note 2

RC700 / RC700-A Rev.25 259

Maintenance 9. Troubleshooting

No. Message

5057

Collision was detected in High power mode

(Detection of robot motion error)

Remedy

Collision detection (detection of robot motion error) was functioned.

The following errors have detected:

- Collision or contact of the robot arm occurs.

- Torque saturation due to little setting of Weight or Inertia.

- Torque saturation due to combined motion of multiple joints and throwing around the long object.

- Torque saturation due to supply voltage reduction.

- Error motion due to hardware error or software malfunction.

Countermeasures:

Check the there is no collision or contact of the robot arm and change the arrangement to avoid interfere.

Confirm that torque saturation is occurred.

During torque saturation: check the setting of Weight and Inertia are properly and correct them if necessary.

During combined motion: adjust the acceleration and deceleration to avoid torque saturation.

Check the power supply voltage and correct them if necessary.

If other error occurs at the same time, take a countermeasure for that first.

Reference:

EPSON RC+ 7.0

User’s Guide

“6.18.10 Collision

Detection Function (Error detection function of robot motion)”

Note 1 Note 2

260 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5058

5080

5098

Message

Collision was detected in Low power mode

(Detection of robot motion error)

5072 Servo alarm B.

High temperature of the encoder.

Decrease the duty. Check the reduction gear unit of the robot.

5099

High temperature of the motor driver. Clean the controller fan filter. Check the ambient temperature. Decrease the duty.

5112 Servo alarm C.

5501

Failed to initialize the force control.

Reboot the controller.

5510

Motor is overloaded. Decrease the duty and the Accel.

Force control calculation error.

Reboot the controller.

Remedy

Collision detection (Detection of robot motion error) was functioned.

The following errors have detected:

- Collision or contact of the robot arm occurs.

- Torque saturation due to holding a hand or long object that exceeds the weight described in the specifications.

- Error motion due to hardware error or software malfunction.

Countermeasures:

Check the there is no collision or contact of the robot arm and change the arrangement to avoid interfere.

Check the hand weight and correct it if necessary.

Joint #4 and 5 of 6-axis robot: confirmed that torque saturation is occurred.

If torque saturation is occurred: change to hold in high power mode.

If other error occurs at the same time, take a countermeasure for that first.

Reference:

EPSON RC+ 7.0

User’s Guide

“6.18.10 Collision

Detection Function (Error detection function of robot motion)”

Reboot the controller.

Lower the motion duty.

Check the Weight/Inertia setting.

Check the robot. (Backlash, large load, loose belt tension, brake)

Wait until the temperature of the encoder decreases.

Lower the motion duty.

Check the Weight/Inertia setting.

Check the robot. (Backlash, large load, loose belt tension, brake)

Clean the cooling fan filter.

Lower the motion duty.

Check the Weight/Inertia setting.

Lower the ambient temperature.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Note 1 Note 2

RC700 / RC700-A Rev.25 261

Maintenance 9. Troubleshooting

No. Message

5511

5520

5521

5522

5523

5530

5531

5532

5533

5535

Coordinate transformation error in force control.

Check whether the robot moves outside of the motion range.

Impedance parameter error.

Check the combination of Mass,

Damper, and Spring

The coordinate system mode other than the custom mode is specified for the Force Sensor which is not associated with the robot.

Check configuration of the Force

Sensor or the coordinate system mode.

Undefined data is selected.

Check if the selected data is defined.

The parameter which cannot be continued when the CF continues force control is specified.

Check the Force Control Object and the Force Coordinate System

Object.

The specified time has passed after resetting the Force Sensor.

Execute the Reset property of the

Force Sensor Object.

Remedy

Check whether the coordinate out of the motion range is specified.

Check whether the robot moves outside of the motion range during the execution of force control.

Check the combination of Spring,

Damper, and Mass. Check whether the Mass property is too small for the Damper property.

Check association with the robot.

Check if the direction other than the Custom coordinate is specified for the Orientation property of the force coordinate system object for the sensor which is not associated with the robot.

Check if the specified parameter is defined.

Check the force control object and the force coordinate object which are used by the motion commands before and after continuing the force control by the CF parameter.

Execute the Reset property for the Force Sensor object.

Approached the singularity point while executing force control.

Avoid the singularity point when using force control.

Buffer for Force Sensor averaging is saturated.

Shorten the time interval from

AvgForceClear to AvgForce. continuing

time for CF to The execute force control has passed.

To continue force control, use

FCKeep.

SCARA robot cannot execute force control if the Orientation property of Base, Tool, Local, and FCS objects, or V and W of the current command position are other than

Check the parameters.

Check whether the coordinates near the singularity is specified.

Check whether the robot moves to the vicinity of the singularity during the execution of force control. Or, review the installation position of the robot.

Shorten the time interval between

AvgForceClear and AvgForce to be shorter than a minute.

Check whether the interval of the motion commands is one minute or less.

Set “0” to the Orientation property or V and W of the current command position for Base, Tool,

Local, and FCS objects.

Note 1 Note 2

262 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5536

5540

5541

5542

5543

5544

5545

Message

Force control is not supported for this robot model.

Check the robot model and the controller firmware version.

Force Sensor transmission error.

Check connection of the Force

Sensor I/F unit (board) and Force

Sensor.

Force Sensor reception error.

Check connection of the Force

Sensor I/F unit (board) and Force

Sensor

Force Sensor in use.

Check if other commands are using the Force Sensor.

Force Sensor communication error.

Execute the Reboot property of the

Force Sensor Object.

Element error of Force Sensor.

Check whether force exceeding the rated value is applied to the

Force Sensor.

Execute the Reset property of the

Force Sensor Object.

Circuit error 1 of Force Sensor.

Execute the Reset property of the

Force Sensor Object.

Remedy

Check if the specified robot is correct.

Check if the Controller firmware supports the robot model.

Execute the Reboot property for the Force Sensor object.

Check connection of the Force

Sensor and Force Sensor I/F unit

(board).

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Execute the Reboot property for the Force Sensor object.

Check connection of the Force

Sensor and Force Sensor I/F unit

(board).

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Check whether the Reset property or Reboot property of the Force Sensor object are executed in another task.

Execute the Reboot property for the Force Sensor object.

Check connection of the Force

Sensor and Force Sensor I/F unit

(board).

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

This error may occur if a long time passed while the Force

Sensor is not reset.

Execute the Reset property for the Force Sensor object.

Check whether force exceeding the rated value is applied to the

Force Sensor.

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Execute the Reset property for the Force Sensor object.

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

RC700 / RC700-A Rev.25

Note 1 Note 2

263

Maintenance 9. Troubleshooting

No. Message

5546

5547

5548

5549

5550

5551

Circuit error 2 of Force Sensor.

Execute the Reset property of the

Force Sensor Object.

High temperature error of the

Force Sensor.

Check if the ambient temperature is within the rated value and there is no rapid temperature change.

Execute the Reset property of the

Force Sensor Object.

Force Sensor detected force exceeding the rated value.

Check if force exceeding the rated value is applied.

Execute the Reset property of the

Force Sensor Object.

Force Sensor I/F unit (board) is not connected.

Check connection of the Force

Sensor I/F unit (board) and Force

Sensor.

Force sensing of the Force Sensor is off.

Check configuration of the Force

Sensor.

Unsupported Force Sensor is connected. Check the controller firmware version and connection of the Force Sensor.

Remedy

Execute the Reset property for the Force Sensor object.

Reboot the Force Sensor and

Force Sensor I/F unit (board).

If a similar error occurs even after the above countermeasures are taken, check if the tip of the robot arm has a vibration.

Execute the Reset property for the Force Sensor object.

Check the ambient temperature.

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Execute the Reset property for the Force Sensor object.

Check whether force exceeding the rated value is applied to the

Force Sensor.

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Check connection of the Force

Sensor and Force Sensor I/F unit

(board).

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Check the configuration of Force

Sensor.

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Check whether the controller firmware supports the Force

Sensor.

Check connection of the Force

Sensor and Force Sensor I/F unit

(board).

Reboot the Force Sensor and

Force Sensor I/F unit (board).

5552

5553

Configuration of the force sensor failure.

Check the configuration of the force sensor.

Unsupported function is executed on the connected force sensor.

Review the program.

Check the configuration of the force sensor.

Check the force sensor settings.

Review the program.

Note 1 Note 2

264 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5560

5570

5571

5572

5573

5574

5800

5801

5802

5803

5810

5811

5812

5813

Force log buffer overflow.

Set the data measurement interval longer.

Message

Drift correction error of Force

Sensor.

Force monitor buffer overflow.

Reboot the force monitor.

Remedy

Check connection of the Force

Sensor and Force Sensor I/F unit

(board).

Reboot the Force Sensor and

Force Sensor I/F unit (board).

Close and re-open the force monitor.

Set the data measuring interval longer.

The computer receiving the data may be under heavy load state.

Force control monitor buffer overflow.

Reboot the force control monitor.

Close and re-open the Force

Control Monitor.

The log data of the force guide sequence overflowed.

RecordStart buffer overflowed. Set the data measurement interval longer.

Failed to initialize the force control.

Reboot the controller.

Force control failed to allocate memory.

Reboot the controller.

Force control calculation error.

Reboot the controller.

The computer receiving the data may be under heavy load state.

Set the data measuring interval longer.

The computer receiving the data may be under heavy load state.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Force Sensor failed to connect with the robot.

Check connection setting of the

Force Sensor.

Force control parameter error.

Check the parameter range.

Check connection setting of the

Force Sensor.

Check the range of the specified parameter.

Force Control Object parameter is out of the range.

Note 1: Property

Note 2: Axis

Check the parameter.

Check the property of force control object.

Note 1

1:Number

2:Coordinate

System

3:Enabled

4:Mass

5:Damper

6:Spring

7:TargetForce

PriorityMode

8:TargetForce

9:LimitSpeed

10:LimitAccel

LimitSpeed or LimitAccel of the

Force Control Object is lower than speed or accel setting of the robot.

Check the parameter.

Enabled properties of the Force

Control Object are all false.

Set true to 1 or more axis.

Check the values of Speed,

SpeedS, SpeedR, Accel, AccelS,

AccelR, LimitSpeed and

LimitAccel.

Enable the “Enabled” property for at least one axis.

Note 2

1:Fx

2:Fy

3:Fz

4:Tx

5:Ty

6:Tz or

1:J

2:S

3:R

RC700 / RC700-A Rev.25 265

Maintenance 9. Troubleshooting

No.

5814

Message

SCARA robot cannot execute force control if the Orientation property of Base, Tool, Local, and FCS objects, or V and W of the current command position are other than

0, or if Tx_Enabled and Ty_Enalbed are not False.

Check the parameters.

Remedy

Disable the enabled state of Tx and Ty.

Set “0” to the Orientation property or V and W of the current command position for Base, Tool,

Local, and FCS objects.

5815

5816

5817

Force Trigger Object parameter is out of the range.

Note 1: Property

Note 2: Axis

Check the parameter.

Force Coordinate System Object parameter is out of the range.

Note 1: Property

Note 2: Axis

Check the parameter.

Force Monitor Object parameter is out of the range.

Note 1: Property

Note 2: Axis

Check the parameter.

Check the property of force trigger object.

Check the property of force coordinate system object.

Check the property of force monitor object.

Note 1

1:Number

2:Position

3:Orientation_

Mode

4:Orientation_

UVW

5:Orientation_

RobotLocal

1:Number

2:Force

Sensor

3:Coordinate

System

4:FMag_Axes

5:TMag_Axes

6:LPF_Enabl ed

7:LPF_TimeC onstant

1:Number

2:Force

Sensor

CoordinateSy stem

4:TriggerMod e

5:Operator

6:Enabled

7:FMag_Axes

8:TMag_Axes

9:Polarity

10:UpperLeve l

11:LowerLeve l

12:

UpperLevel smaller than

LowerLevel

13:LPF_Enab led

14:LPF_Time

Constant

5818

Force motion restriction object parameter is out of the range.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Note 2

1:X

2:Y

3:Z or

1:U

2:V

3:W

1:Fx

2:Fy

3:Fz

4:Tx

5:Ty

6:Tz

7:Fmag

8:Tmag

266 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5819

5830

5831

5832

5833

5834

5840

5841

5901

5902

5903

5904

5906

5907

Message

Specified duration of FCKeep is out of the allowable range.

Check the duration.

Force control cannot resume from the pause. Abort the motion command.

Cannot execute this command during force control.

Exit force control by FCEnd.

Cannot execute the motion command which has no Force

Control Object during force control.

Exit force control by FCEnd.

Cannot use gravity compensation.

Can use only Mass Property object number '0'.

Unsupported function is executed on the connected force sensor.

Review the program.

Force Sensor in use.

Check whether other commands are sing the Force Sensor.

Failed to reset the force sensor.

Reset the force sensor again.

Note1: Detailed error information

Force control failed to allocate memory.

Reboot the controller.

Force control failed to release memory.

Reboot the controller.

The specified robot cannot be found.

Force control failed to allocate memory.

Reboot the controller.

Specified force data number cannot be found. Specify a valid force data number.

Specified force data number was not defined.

Specify a teach force data number.

Remedy

Check whether the specified duration is 600 seconds or less.

Abort the motion.

Abort force control.

Execute FCEnd command.

Check whether the motion command right after continuing the force control by CT does not contain force control.

This is the combination of the force sensor and the robot that cannot use gravity compensation

Set Mass Property object number

'0'.

Check the force sensor settings.

Review the program.

Note 1

Check whether the Reset property or Reboot property of the Force Sensor object are executed in another task.

When the parameter is omitted or

FG_RESET_FINE is specified, specify

FG_RESET_WAIT_VIBRATION for parameter.

When

FG_RESET_WAIT_VIBRATION is specified, adjust the reset timing by Wait statement or remove the source of external vibration.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

1: Timeout since Fine condition is not satisfied.

2: Timeout since the vibration did not stop.

Specify a defined force data number.

Note 2

RC700 / RC700-A Rev.25 267

Maintenance 9. Troubleshooting

No.

5908

Message

Specified force coordinate system data number was not defined.

Specify a teach force coordinate system data number.

5909

5910

5911

5912

5913

5914

5915

5918

5921

5924

Remedy

Specify a defined force coordinate system data number.

Specified force data can't be updated.

Specified force data value is out of allowable range.

The Upper level value is smaller than the lower level value. Change the upper and lower level values.

The number of specified command parameters is not correct.

Specify a valid number of parameters.

The number of specified function parameters is not correct.

Specify a valid number of parameters.

The type of a specified command parameter is not correct.

Specify valid parameters.

The type of a specified function parameter is not correct.

Specify valid parameters.

Specified force data label cannot be found.

Specify a valid force data label.

Duplicate force data label.

Specified label name is already used.

Change the label name.

Force control of the specified robot failed to allocate memory.

Reboot the controller.

Specified force data cannot be updated nor deleted by FSet,

FDel, MPSet, or MPDel statement.

Specify the value within the range.

Change the upper and lower level values.

Specify a valid number of parameters.

Specify valid parameters.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Specify a defined valid force data label.

Change the label name.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Note 1

Number of parameters

5927

Cannot read the force data from the force file.

Re-create the force file.

The force data is invalid and cannot be read.

Re-create the force file.

0:FC

1:FCS

2:FT

3:FM

4:MASS

5928

5929

5930

5931

Force control failed to allocate memory.

Reboot the controller.

Specified force file name is not correct.

Specify a valid force file name.

Specified force data label is beyond the maximum length.

Specify a valid force data label.

Description for the specified force data is beyond the maximum length.

Specify a valid description.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Specify a valid force data label.

Refer to "Label Property" for details.

Specify a valid description.

Refer to "Description Property" for details.

Note 2

Force data number

268 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

5932

Message

The force file is corrupted.

Re-create the force file.

5933

Specified force file cannot be found.

Specify a valid force file name.

5934 Cannot save the force file.

5940

The force data label is not correct.

Specify a valid force data label.

5941

5943

5944

The force data label is not correct.

Specify a valid force data label.

Invalid force file version.

Update the controller firmware.

Failed to read the force file.

Re-create the force file.

Remedy

Cannot load the force file because it is corrupted or was edited by tools other than Force

Guide 7.0.

Re-create the force file.

Specify a valid force file name.

Make an enough space to write the force file.

Specify a valid force data label.

Refer to "Label Property" for details.

Specify a valid force data label.

Refer to "Label Property" for details.

Cannot load the force file because it is a newer version.

Cannot load the force file because the format is not supported.

Note 1

Robot number

Note 2

RC700 / RC700-A Rev.25 269

Maintenance 9. Troubleshooting

No. Message

6001 Calibration number is out of range.

6002 Calibration is not defined.

6003 Camera orientation is out of range.

6004 TwoRefPoints flag is out of range.

6009 Calibration file name is invalid.

6010 Calibration file is not found.

6012 Failed to read the calibration file.

6013 Failed to write the calibration file.

6014 9 pixel coordinate points should be specified.

Remedy

Correct the calibration number.

Perform calibration.

Correct the CameraOrientation value.

Correct the TwoRefPoint value.

Note 1

Re-teach the points.

Perform point teaching and calibration again.

Reteach the points.

Correct the calibration file name.

Check access permission for the project folder.

Make sure that at least 9 results are obtained in the vision sequence.

Make sure that at least 18 results are obtained in the vision sequence.

Reteach the points.

6502 Vision process Communication error (-3)

6503 Vision process Memory error (-11)

6506 Vision process Error at modeling (-14)

6507 Vision process Recovery error(-15)

Reteach the points.

Perform point teaching and calibration again.

Check the connection with the camera (cable, setting).

Reboot RC+.

Change the target and teach again.

Specify the file of appropriate format.

Set a value in the valid range.

6509 Vision process Invalid mode (-17) Set a valid value.

6510 Vision process Invalid threshold value (-18) Set a value in the valid range.

6511 Vision process Invalid polarity (-19) Set a value in the valid range.

6512 Vision process File open failed (-20)

6513 Vision process Initialization error (-21)

6514 Vision process Status error (-22)

6517 Vision process Invalid image format (-25)

Specify a correct file.

Reinstall the RC+.

Check the connection with the camera.

Specify the image file of readable format.

Set a value in the valid range.

Disable Windows Firewall.

Set a value in the valid range.

270

Set a value in the valid range.

RC700 / RC700-A Rev.25

Note 2

No. Message

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

Remedy

Set a value in the valid range.

Note 1 Note 2

271

Maintenance 9. Troubleshooting

No. Message

272

Remedy

Set a value in the valid range.

RC700 / RC700-A Rev.25

Note 2 Note 1

No. Message

Recognition dictionary is full (-2132)

Maintenance 9. Troubleshooting

Note 2 Remedy

Change to the code with a proper checksum. Or, change the setting not to use the checksum.

Ensure a quiet zone (blank margin) around the code. Set the quiet zone narrower.

Change the code.

Delete the registered characters.

Note 1

RC700 / RC700-A Rev.25 273

Maintenance 9. Troubleshooting

No. Message

7003

7004

7006

The specified robot cannot be found.

Duplicate allocation of the point data area.

Specified point number cannot be found. Specify a valid point number.

7007

Specified point number was not defined. Specify a teach point number.

7010

7011

7012

7013

7014

7015

7016

7017

7018

7019

7021

7022

7024

Remedy

Reboot the controller.

Initialize the control firmware.

Reboot the controller.

Initialize the control firmware.

Check the specified point number.

Cannot allocate the memory area for the pallet definition.

Cannot free the memory area for the pallet definition.

Specified pallet number cannot be found. Specify a valid pallet number.

Specified pallet is not defined.

Specify a defined pallet or define the pallet.

Specified division number is beyond the pallet division number definition. Specify a valid division.

Specified coordinate axis number does not exist.

Specified arm orientation number does not exist.

Cannot allocate the required memory.

Specified point label cannot be found. Specify a valid point label.

Parameter setup in the initialization file is invalid.

Duplicate point label. Specified label name is already used.

Change the label name.

Specified local coordinate system is not defined. Specify a valid local coordinate system number.

Point data memory area for the specified robot is not allocated.

Check whether point data is registered in the specified point.

Perform the teaching.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Reboot the controller.

Initialize the controller firmware.

Check the pallet number.

Check whether the specified pallet is defined by the Pallet statement.

Declare the pallet.

Check the specified division number.

Check the specified coordinate axis number.

Check the specified arm orientation number.

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Check the specified point label.

Reboot the controller.

Initialize the controller firmware.

Change the point label.

Check the specified local number.

Define the Local coordinate system.

Rebuild the project.

7026

Cannot open the point file.

Specify a valid point file name.

Check the point file name.

Check whether the point file specified for the project exists.

7027

7028

7029

Cannot read the point data from the point file.

Point area is allocated beyond the available point number.

Specified point file name is not correct. Specify a valid point file name.

Create the point file again.

There are too many points.

Review the number of points.

Check the file extension.

274

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

7030

7031

7032

7033

7034

7035

7036

7037

7038

7039

7040

7041

7042

7043

7044

7045

Message

Specified point label is beyond the maximum length. Specify a valid point label.

Description for the specified point is beyond the maximum length.

Specify a valid description.

Point file is corrupted. Check sum error.

Specified point file cannot be found. Specify a valid point file name.

Remedy

Change the point label.

Change the comment.

Create the point file again.

Cannot save the point file.

The point label is not correct.

Specify a valid point label.

The point label is not correct.

Specify a valid point label.

The pallet cannot be defined.

Invalid point file version.

The point file format version is unsupported.

The specified work queue number is invalid.

Check the name of the specified point file.

Failed to save the point file (create a temporary file).

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Failed to save the point file (file open).

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Failed to save the point file (renew the file header).

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Failed to save the point file (create the file name).

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Failed to save the point file (copy the file).

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Failed to save the point file (change the file name).

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

The initial character of the point label name is improper. Correct the label name.

Inadequate character is used.

Correct the label name.

Undefined flag for pallet data is mixed.

Check the point data.

Correct the point data.

The point file version is different.

Re-create the point file.

The point file is not supported.

Re-create the point file.

Check the specified work queue number.

Note 1 Note 2

RC700 / RC700-A Rev.25 275

Maintenance 9. Troubleshooting

No. Message

7046 The specified work queue is full.

7047

The specified work queue data does not exist.

7048

7049

The parameter of the work queue instruction is invalid.

7050

Cannot execute while work queue data is registered.

7101

The work queue is not correctly initialized.

Fieldbus slave. An error occurred during I/O data transform.

Remedy

The work queue is full. Delete the point data from the work queue and register.

Check the specified index.

Failed to initialize the work queue

(allocate memory).

Reboot the controller.

Initialize the controller firmware.

Replace the controller.

Check the parameters of the commands related to the work queue.

Cannot set the work queue since the point data is registered to the work queue.

Empty the work queue before setting.

The fieldbus slave board is broken or the controller software is damaged.

Restore the controller firmware.

Note 1

A communication data error was detected during communication.

The communication cable has a problem. Check the communication cable and its related units.

The fieldbus is broken or the controller software is damaged.

Restore the controller firmware.

The PLC is not running or not connected.

Check the PLC, the communication cable, and peripherals.

(If Code 1 is 22 when the CC-Link board is used.)

Note 2

276 RC700 / RC700-A Rev.25

No.

7103

7150

7215

7216

Message

Fieldbus slave. Timeout error occurred during I/O data transform.

The specified file is open.

7217

There is no read data.

7230

The specified connection is open.

7231

7232

The connection is closed.

7233

7234

7235

7250

Fieldbus master.

Bus is disconnected.

7151 Fieldbus master. Bus power is off.

7152

Fieldbus master.

Bus status error.

7200 Invalid argument.

7201 A system error occurred.

7202 There is not enough memory.

7203

Access is denied.

7210

Drive is not ready.

7211

The specified path is invalid.

7212

The specified path already exists.

7213

The file specified by path does not exist.

7214 File size is too large.

The open mode is illegal.

A connection-level error occurred while opening the connection.

An unsupported data type was used.

Data size is too large.

The specified file type is not supported.

7236 There is no selected data.

No bytes were available to read.

7251

The port is in an invalid state.

7252

The specified port is open.

7253

The port is closed

7254 The specified port is not open.

7255 Timeout reading from the port.

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

Remedy Note 1

The fieldbus slave board is broken or the controller software is damaged.

Restore the controller firmware.

A communication data error was detected during communication.

The communication cable has a problem. Check the communication cable and its related units.

Check the connection of the communication cable for the fieldbus.

Check whether the communication cable for the fieldbus is powered.

Reboot the controller.

Check the fieldbus master board.

Replace the fieldbus master board.

Check the parameter.

Set the device.

Make sure the specified path exists.

If the specified directory or file already exists, you cannot execute.

Make sure the specified file exists.

Specify the file that is less than 2G bytes.

The specified file number is already existing. Use another file number.

Make sure you opened in reading or writing mode.

Make sure there are data to read.

The specified file number is already existing. Use another file number.

Check the access right of database.

Use OpenDB and open the database.

Convert the data into string or numeric value.

Too large data in a line. Specify the query so that necessary field are only retrieved.

Check the type of Excel file.

Make sure the data you retrieved exists.

There are no retrieved data. Check the send program.

Check the device setting for the specified port.

Check the port number to open.

Check the port number to close.

Check the port number to open.

Check the port timeout period and update to the appropriate setting.

Note 2

277

Maintenance 9. Troubleshooting

No. Message

7256

Timeout writing to the port.

7260

The checksum in project file is invalid.

7261 Invalid function.

7262 Invalid parameters.

7263

Cannot execute while creating

DLL.

7264

Failed to create DLL.

7265

DLL file cannot be found.

Remedy

Check the port timeout period and update to the appropriate setting.

Rebuild the project.

Check the function definition to call.

Note 1 Note 2

278 RC700 / RC700-A Rev.25

7327

7328

7329

7330

7323

7324

7325

7326

7307

7308

7321

7322

7341

7342

No.

7300

7302

7303

7304

7305

7306

7343

7344

7345

7346

7400

Maintenance 9. Troubleshooting

Message

Vision Communication.

Server mode not supported.

Vision Communication.

Failed to read from the camera.

Vision Communication.

Read data overflow.

Vision Communication.

Failed to open the Ethernet port.

Vision Communication.

Invalid IP address of camera.

Vision Communication.

No specification of Server or

Client.

Vision Communication.

Failed to send to the camera.

Vision Communication.

Camera version is old.

Vision Communication.

Camera setting has not been set.

Vision Communication.

Read timeout.

Vision Communication.

Read invalid data.

Vision Communication.

Failed to send to the camera.

Vision Communication.

Connection is not completed.

Vision Communication.

Read data is too long.

Vision Communication.

Undefined vision sequence.

Vision Communication.

Camera setting has not been set.

Vision Communication.

Vis file was not found.

Vision Communication.

Failed to allocate memory.

Vision Communication.

Out of max camera number.

Vision Communication.

Invalid camera number.

Vision Communication.

VSet parameter is too long.

Remedy

Check the connection with the camera.

Data exceeding the receive buffer was received.

Check the connection with the camera.

Rebuild the project. Check the camera configuration.

Check the connection with the camera.

The version of the connected camera is old. Update the camera.

Rebuild the project. Check the camera configuration.

Check the connection with the camera.

Check the sequence name.

Rebuild the project. Check the camera configuration.

Reduce the number of sequences, objects, and calibration.

Review the camera registration.

Vision Communication:

Too many parameters for VGet.

Vision Communication.

Not enough data for VGet statement variable assignment.

Vision Communication.

Cannot execute a Vision statement from the command window.

Matrix determinate too small.

Review the camera registration.

Review the names and string variables of sequences, objects, and calibration.

The number of specified variables is exceeding 32. Reduce the number of parameters.

Reboot the camera.

Check the version of the camera.

Execute the command from the program.

If specifying the virtual camera, specify the real camera.

Note 1 Note 2

RC700 / RC700-A Rev.25 279

Maintenance 9. Troubleshooting

No. Message

7402

7403

Invalid value for maximum motion distance.

Invalid value for maximum pose difference angle.

7404 Invalid value for LJMMode.

7405 Command aborted by user.

7406

Joint 1 angle change exceeded the maximum allowed during calibration.

Remedy

Specify the valid value.

－

Adjust the start angle of Joint 1.

7407

7408

7409

7410

7411

7412

7413

7414

7415

7416

7417

7418

7419

Joint 2 angle change exceeded the maximum allowed during calibration.

Joint 4 angle change exceeded the maximum allowed during calibration.

Joint 6 angle change exceeded the maximum allowed during calibration.

Network camera. Timeout during image file transfer from PC.

No upward camera sequence was specified for mobile calibration with upward reference.

Adjust the start angle of Joint 2.

Adjust the start angle of Joint 4.

Adjust the start angle of Joint 6.

Check the connection of PC and camera.

Specify the existing sequence.

The specified upward camera sequence has no calibration.

The specified upward camera sequence calibration is not complete.

Set the calibration for upward camera sequence.

Complete the upward camera sequence calibration.

The target sequence cannot be used when RuntimeAcquire is

Strobed.

Invalid calibration reference type.

Set the RuntimeAcquire of target sequence to Stationary.

Invalid calibration data. Teach the calibration points again.

Invalid calibration setup.

The target sequence camera is not the same as the calibration camera.

Selectable ReferenceType is different depending on

CameraOrientation. Select again.

Need to teach the calibration points again.

Try to perform point teach of calibration again. Or check the target sequence.

Invalid calibration target sequence. Target sequence may not be selected or camera number of the target sequence differs from that of calibration.

Set the sequence of the same camera.

7420

7421

The target sequence has no objects.

Invalid last step for the target sequence.

Add the detection object to target sequence.

Check the steps.

7422

7423

Exception occurred when search for the calibration target.

Invalid number of results for calibration target sequence.

Check the target sequence.

Create a sequence to detect results of required number of targets.

7424 Cannot load the calibration points. Perform calibration point teach again.

Note 1 Note 2

280 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

7425

7426

7427

7428

7429

7430

7431

7432

7500

7501

7502

7503

7504

7505

7506

7507

7508

Message Remedy

Invalid camera orientation.

Distortion correction calibration is incomplete.

Check the CameraOrientation of calibration.

Perform distortion correction if it is set.

Invalid vision object was specified. Invalid vision object is specified in

Vision Guide commands such as

VSet and VGet. Specify the valid vision object.

V and W coordinates must be zero for the type of robot used.

Set V and W of the Base to 0.

Specify the valid value. Invalid robot speed specified for the current operation.

Invalid robot acceleration specified for the current operation.

Invalid ShowWarning parameter value.

Cannot create the object using the camera specified in the sequence.

Specify the valid value.

Check the Vision object type.

Update the camera firmware.

Initialize the camera.

Reduce the project size.

Network camera.

Out of memory.

Network camera.

Project does not exist.

Network camera.

Project has not been set.

Network camera.

Vision property or result not supported.

Network camera.

Cannot open project file.

Rebuild the project.

Update the camera firmware.

Rebuild the project.

Undefined vision sequence.

Undefined vision object.

Network camera.

Critical error.

Network camera.

Invalid command.

Check the sequence name.

Rebuild the project.

Check the object name.

Rebuild the project.

Initialize the camera.

Rebuild the project.

Update the camera firmware.

7509

7510

Invalid vision property value.

Invalid vision property.

Check the property value.

Update the camera firmware.

Check the property name.

Update the camera firmware.

7511 Vision model not trained.

7512

7513

7514

7515

7516

Undefined vision calibration.

Vision model object not Self.

Invalid vision result.

Vision object not found.

No vision calibration.

Teach the model.

Check the calibration name.

Rebuild the project.

Check the property value.

Check the result name.

Update the camera firmware.

Check the Found result before obtaining the result.

Check the calibration name.

7517 Incomplete vision calibration.

7518

7819

Network camera.

Cannot connect with camera.

Network camera.

Communication error.

7520 Window out of bounds.

Perform calibration.

Check the camera connection.

Set the window within the bounds.

Note 1 Note 2

RC700 / RC700-A Rev.25 281

Maintenance 9. Troubleshooting

No.

7521

7522

7523

7524

7525

Message

OCR font is invalid.

The specified vision calibration already exists.

The specified vision sequence already exists.

The specified vision object already exists.

Cannot load vision project.

Remedy

Change the calibration name.

Delete the existing calibration in advance.

Change the sequence name.

Delete the existing sequence in advance.

Change the object name.

Delete the existing sequence in advance.

The project folder may be corrupt.

Restore backup data.

7526

7527

7528

7529

7530

7531

7532

7533

Image file not found.

Camera does not exist.

Acquisition failed.

No objects to train.

Cannot load image file.

Camera is not supported by

RC+7.0.

7534

Camera firmware does not support new functions of RC+7.0.

Update the camera firmware.

7535 Invalid data from network camera. Initialize the camera.

7536

7537

Network camera export status failed

Invalid ImageSize value. The specified value is not supported by the camera.

Initialize the camera.

ImageSize exceeding the camera resolution cannot be specified.

Correct the property value.

7538

7539

7540

7541

Invalid ZoomFactor. The specified value requires data outside of the image area.

The camera does not support

Code Reader.

The camera does not support

OCR.

Insufficient data for teaching model.

Settable values are from 0.1 to 10.0.

Correct the property value.

Update the camera firmware.

Black or white image cannot be registered as a model.

7542

7543

Cannot save vision project.

Vision processor. Critical error.

Model window cannot be outside of image.

Calibration points have not been taught.

The project folder may be writeprotect.

Check the access permission for the project folder.

Initialize the camera.

Rebuild the project.

Check the image file.

Check the camera connection.

Teach the model.

Check the image file.

SC300/SC1200 is not supported by

RC+7.0.

Use CV1/CV2.

Correct the position of the model window.

Teach the calibration point.

7544

7545

7546

Calibration must be fixed upward.

Point was not defined.

RobotPlacePos has not been calibrated.

7547

Camera IP address is out of current subnet.

7548 Camera was not detected.

Sequence with the calibration data of the upward fixed camera is only settable.

Teach the calibration point.

Click CalRobotPlacePos and calibrate RobotPlacePos.

Correct the camera IP address.

Check the wiring of the camera.

282

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No. Message

7549

Invalid Radius. Radius must be

>= RadiusInner and <=

RadiusOuter.

7550 OCR character does not exist.

7551 OCR option is not active.

Remedy

Correct the property value.

7572

7573

7599

Invalid sequence name.

Invalid calibration name.

7574

Sequence or calibration name already exists.

7575 Invalid camera.

7576

7577

7578

7579 Invalid initial rotation angle.

7580 Invalid final rotation angle.

7581 Invalid target tolerance.

7582 Invalid tool definition type.

7583 Invalid rotation angle.

7584 Invalid local definition type.

7585

7588

7589

7590

7591

7592

7596

7597

7598

The vision target could not be found.

Failed to position the vision target within the specified tolerance.

No object with a search window was found in the sequence.

Calibration plate detection failed.

7586 Focal length detection failed.

7587

Local definition scale detection failed.

Calibration plate pose detection failed.

Invalid object name.

Enable the option.

Specify a name that begins with an alphabet. Alpha-numeral and under score (_) are available for the name.

Specify another calibration name.

Specify valid camera.

Check the vison sequence to detect the target

Add an object to detect the target in vison sequence.

Specify the valid value.

Adjust the focus and exposure time of the lens to show the target clearly.

Narrow down a lens diaphragm.

Adjust the focus and exposure time of the lens to show the target clearly.

Specify a name that begins with an alphabet. Alpha-numeral and under score (_) are available for the name.

Adjust the start position. Or set the limit value widely.

Maximum move distance exceeded the limit set by

VDefSetMotionRange.

Maximum pose difference angle exceeded the limit set by

VDefSetMotionRange.

Maximum joint angle difference exceeded the limit set by

VDefSetMotionRange.

Local definition rough camera alignment failed.

Local definition plane could not be calculated.

Calibration generates points move distance too small.

Calibration generate points camera to robot relation error.

Adjust the start position. Or set the limit value widely.

Adjust the start position.

Adjust the vision sequence to show the calibration plate clearly.

Make the search area bigger or the target smaller.

If specifying the virtual camera, specify the real camera.

Note 1 Note 2

RC700 / RC700-A Rev.25 283

Maintenance 9. Troubleshooting

No. Message

7600

7602

GUI Builder.

Cannot execute a GUI Builder statement from the command window.

GUI Builder.

GSet parameter is too long.

7603

7604

7610

7611

7612

7613

7650

7651

7652

7653

7654

7655

7656

7700

7701

7702

7703

7710

7711

GUI Builder.

Too many parameters for GGet.

GUI Builder.

Not enough data for GGet statement variable assignment.

GUI Builder.

The event task cannot be executed.

System in pause state and

EventTaskType is Normal.

GUI Builder.

The event task cannot be executed.

Safeguard is open and

EventTaskType is Normal.

GUI Builder.

The event task cannot be executed.

Estop is active and EventTaskType is not NoEmgAbort.

GUI Builder.

The event task cannot be executed.

System in error state and

EventTaskType is not NoEmgAbort.

GUI Builder.

Invalid property.

GUI Builder.

Invalid form.

GUI Builder.

Invalid control.

GUI Builder.

The specified form is already open.

GUI Builder.

Event function does not exist.

GUI Builder.

Item does not exist.

GUI Builder.

Invalid property value.

Security.

Invalid user.

Security.

Invalid password.

Security.

Permission denied.

Security.

Option not active.

Source and destination cannot be the same.

Point file name is used by another robot.

Remedy

Correct the parameter to the proper length.

Check the number of parameters.

Specify the variable.

The system can be operated by changing EventTaskType to

“NoPause”

The system can be operated by changing EventTaskType to

“NoEmgAbort”

The system can be operated by changing EventTaskType to

“NoEmgAbort”

The system can be operated by changing EventTaskType to

“NoEmgAbort”

Specify the valid property.

Specify the valid form.

Specify the valid control.

Modify the program to avoid double launch.

Check the function name set for the event.

Specify the valid item.

Check the property value and specify the valid value.

Contact the administrator to register the user.

Check the password.

Contact the administrator to set authority.

Specify another destination.

Check the point file name.

Note 1 Note 2

284 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

7712 Invalid axis specified.

7713 Option not enabled

7714 File not found.

7715

Robot number is out of the available range.

7716 Robot does not exist.

7717 File Error. Invalid folder.

7718 Cannot write the file.

7750

Message

Simulator. Initialization failure.

Remedy

Check whether the specified axis is valid. Check if the axis is specified correctly.

Enable the option.

Specify the correct file name.

Check the robot number.

Check whether the robot is registered.

Check the folder name.

Check the storage or the write authority.

Reboot RC+.

Note 1 Note 2

7751 Simulator. Failed to save the objects. Reboot RC+.

7752 Simulator. Failed to load the objects. Reboot RC+.

7753

7754

7755

7756

7757

7758

7759

7760

7761

7762

7763

Simulator. Failed to mapping of memory.

Simulator. The virtual controller already exists.

Simulator. Failed to create the virtual controller connection information.

Simulator. The copy source of the virtual controller does not exist.

Simulator. The copy destination of the virtual controller already exists.

Simulator. Failed to copy the virtual controller connection information.

Simulator. Failed to delete the virtual controller connection information.

Simulator. Failed to delete the controller connection information.

Simulator. Failed to rename the controller connection information.

Simulator. The rename source of the virtual controller does not exist.

Simulator. The rename destination of the virtual controller already exists.

7764 Simulator. Invalid Robot number.

Reboot RC+.

Name of the virtual controller may be duplicated. Check the controller name.

Reboot RC+.

Check the virtual controller name.

Name of the virtual controller may be duplicated. Check the controller name.

Reboot RC+.

Check the virtual controller name.

Reboot RC+.

7765

7766

7767

7768

Simulator. Failed to read the Robot definition file.

Simulator. Failed to copy the layout objects.

Simulator. Failed to cut the layout objects.

Simulator. Failed to paste the layout objects.

Check if the definition file exists.

Reboot RC+.

RC700 / RC700-A Rev.25 285

Maintenance 9. Troubleshooting

No.

7769

7773

7774

7775

7776

7777

Message

Simulator. Failed to remove the

Robot.

Simulator. Robot or Object was not specified.

Simulator. Duplicated Robot name or

Object name.

Simulator. Could not find Robot.

Simulator. Could not find Object.

Simulator. Could not find Hand.

Reboot RC+.

Remedy

Specify Robot or Object.

Change the Robot name or Object name so that it does not duplicate.

Check whether the Robot is set or check the Robot name.

Check whether the Object is set or check the Object name.

Check whether the Hand is set or check the Hand name.

7778

7779

7780

7781

7782

7783

Simulator. The specified object is already registered as a Part object.

Simulator. The specified object is not

Part object

Simulator. Could not find the specified Tool.

Simulator. Child object can not be picked.

Simulator. Parent objects can not be specified for Part, Mounted Device, or Mobile Camera

Simulator. Robot can not be specified.

Unregister the Part.

Specify the object set for the Part.

Specify the set Tool.

Change to parent object.

Unregister as Part, Mounted Device or Mobile Camera.

Specify an Object other than Robot.

7784

7785

Simulator. The same object can not be specified as a parent object.

Simulator. Child object can not be specified as parent object.

Specify another object.

Change to parent object.

7786

Simulator. The specified object is already registered as a parent object. Specify another object.

7787 Simulator. Specified value is invalid. Check the set value.

7788

7789

7790

7791

Simulator. Specified variable type is invalid.

Simulator. Object can not be specified.

Simulator. Hand can not be specified.

Simulator. Camera can not be specified.

Check the variable type.

Specify the Robot.

Specify an object other than Hand.

Specify an object other than

Camera.

7800

7809

Data cannot be changed, because it is not data of PG axis.

7801 Invalid joint number was specified.

7802 The robot type is invalid.

7803 The parameter is invalid.

7804 The robot number is invalid.

7805

7806

7807

7808

MCD failure.

Failed to open the MCD file.

MCD failure.

Failed to read the MCD file.

MCD failure.

Failed to save the MCD file.

MCD failure.

Failed to create the MCD file.

MCD failure.

Failed to write the MCD file.

286

Restore the controller configuration.

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

7810

7811

7812

7815

7816

7817

7822

7824

7825

7827

7829

7830

Message

MPL failure.

Failed to open the MPL file.

MPL failure.

Failed to read the MPL file.

MPL failure.

Failed to write the MPL file.

IFS failure.

Failed to open the IFS file.

IFS failure.

Failed to read the IFS file.

IFS failure.

Failed to write the IFS file.

MTR failure.

Failed to read the MTR file.

MTR failure.

Failed to save the MTR file.

PRM failure.

Failed to create the PRM file.

PRM failure.

Failed to read the PRM file.

PRM failure.

Failed to save the PRM file.

File failure.

Cannot access the file.

7831 The motor type is invalid.

7840

MCD failure.

Area allocate error.

7845

7847

7848

FGI failure. Failed to open the FGI file.

MDL failure. Failed to open the MDL file.

MDL failure. Failed to read the MDL file.

7900 Fieldbus not installed.

7901 Fieldbus invalid parameter.

7902 Fieldbus line defect.

7903 Fieldbus device not configured.

7904 Fieldbus invalid board.

7905 Fieldbus connection denied.

Remedy

Reinstall the firmware.

Update the firmware.

Reboot the controller.

Reinstall the firmware.

Restore the controller configuration.

Note 1

Restore the controller configuration.

Reboot the controller.

Reinstall the MT.

Reboot the controller.

Restore the controller configuration.

1. Reboot the controller.

2. Reinstall the firmware.

Check the motor amplifier.

Reboot the controller.

Reinstall the firmware.

Reboot the controller.

Reinstall the firmware.

Reboot the controller.

Reinstall the latest firmware version. -

Check the connection of the communication cable for the fieldbus.

Check whether the communication cable for the fieldbus is powered.

(if the fieldbus requires power supply)

Check the connection of the fieldbus slave.

Check that the fieldbus master board is installed.

Reboot the computer where the fieldbus master board is installed.

Replace the fieldbus master board.

Check that the fieldbus master board is installed.

Reboot the computer where the fieldbus master board is installed.

Replace the fieldbus master board.

Note 2

RC700 / RC700-A Rev.25 287

Maintenance 9. Troubleshooting

No. Message

7906

7907

7908

7909

7910

7911

7912

7913

7914

7915

7916

Fieldbus invalid device configuration.

Fieldbus general error.

Fieldbus configuration error.

Fieldbus slaves were not detected.

Fieldbus configuration file not found.

Fieldbus invalid configuration file.

Fieldbus invalid device ID.

Fieldbus invalid service was specified.

Fieldbus cannot open master board driver.

Fieldbus cannot open master board channel.

Fieldbus host ready timeout.

Remedy

Check that the fieldbus master board is installed.

Reboot the computer where the fieldbus master board is installed.

Replace the fieldbus master board.

Check that the fieldbus master board is installed.

Reboot the computer where the fieldbus master board is installed.

Replace the fieldbus master board.

Check the fieldbus master setting.

Import the Fieldbus configuration file as described in the Fieldbus I/O manual.

If the problem persists, contact

Epson.

An invalid device ID parameter was used. Check your program.

An invalid explicit messaging service number was used.

Check your program.

Check that the Fieldbus master board is installed correctly.

Check that the drivers for the

Fieldbus master board were installed correctly.

Check that no other application is using the Fieldbus master board.

Check that the correct firmware is installed (downloaded) on the board.

Check that the drivers for the

Fieldbus master board were installed correctly.

Reboot and try again. Replace the board.

7917 Fieldbus bus communication timeout. Check the bus power and slave

7950 Force sensing. Invalid force sensor. -

7951

Force sensing. Invalid force sensor axis.

7952 Force sensing. Sensor read failed.

7953

Force sensing. Sensor initialization failed.

7954 Force sensing. Sensor not initialized. -

7955

7975

Force sensing. Force or torque exceeded saturation level.

Force Guide. Value out of range.

7976 Force Guide. Invalid property value. -

Note 1 Note 2

288 RC700 / RC700-A Rev.25

No.

9001

9002

9003

9004

9005

Message

Emergency stop circuit failure was detected.

Disconnection or other failure was found in one of the redundant inputs.

Safeguard circuit failure was detected.

Disconnection or other failure was found in one of the redundant inputs.

Initialization failure.

Failed to initialize the firmware.

Initialization failure.

Failed to initialize the DU.

Check the DU power and the connection.

Initialization failure.

Failed to initialize the DU.

Check the connection.

Remedy

Check whether no disconnection, earth fault, or short-circuit of the emergency stop input signal exits.

Then reboot the controller.

Check whether no disconnection, earth fault, or short-circuit of the safeguard input signal exits.

Then reboot the controller.

This is likely because of the controller hardware failure.

Check the wiring is correct. If the error is not cleared after the controller is rebooted, contact us.

The number of set Drive Unit(s) disagrees with the number of recognized Drive Unit(s). Check the wirings of power supply and between Control Unit and Drive

Unit are correct. If the error is not cleared after the controller is rebooted, contact us.

This is likely because of the Drive

Unit hardware failure. Check the wiring is correct. If the error is not cleared after the controller is rebooted, contact us.

Maintenance 9. Troubleshooting

Note 1 Note 2

9006

9007

9011

9012

9013

9014

9015

Initialization failure.

Failed to initialize the Remote

I/O.

Check the Remote I/O setting.

Error of Force Sensor occurs.

Note 1: Each error code

See each error code to take a relevant countermeasure.

Battery voltage of the CPU board backup is lower than the specified voltage. Replace the CPU board battery.

5V input voltage for CPU board is lower than the specified voltage.

24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

Internal temperature of the

Controller is higher than the specified temperature.

Speed of the controller fan is below the specified speed.

(FAN1)

RC700 / RC700-A Rev.25

Check the Remote I/O setting value

Error of Force Sensor has occurred.

Please confirm Note 1 by the system history, and take a relevant countermeasure.

Replace the battery for the CPU board immediately. Keep the controller ON as long as possible until the battery is replaced.

If normal voltage is not generated by 5V power supply alone, replace the power supply.

If normal voltage is not generated by 24V power supply alone, replace the power supply.

Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high.

Check whether the filter is not clogged up.

Check whether the filter of the controller is not clogged up.

Replace the fan.

Each error code

100 times of current value

Current value

100 times of boundary value

Boundary value

289

Maintenance 9. Troubleshooting

No.

9016

9017

9018

9019

9020

9021

9022

9023

9024

9025

9026

9031

9032

9033

Speed of the controller fan is below the specified speed.

(FAN2)

Message

Internal temperature of the

Controller is higher than the specified temperature.

54V input voltage for CPU board is lower than the specified voltage.

3.3V input voltage for CPU board is lower than the specified voltage.

DC input voltage for CPU board is lower than or bigger than the specified voltage.

Remedy Note 1

Check whether the filter of the controller is not clogged up.

Replace the fan.

Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high.

Check whether the filter is not clogged up.

Current value

100 times of current value

If normal voltage is not generated by 54V power supply alone, replace the power supply.

100 times of current value

If normal voltage is not generated by 3.3V power supply alone, replace the power supply.

If normal voltage is not generated by DC power supply alone, replace the power supply.

100 times of current value

DU1 3.3V input voltage for the board is lower than the minimum allowed voltage.

DU1 5V input voltage for the board is lower than the minimum allowed voltage.

DU1 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

DU1 Internal temperature of the Controller is higher than the allowed temperature.

DU1 Rotating speed of the controller fan is below the allowed speed. (FAN1)

DU1 Rotating speed of the controller fan is below the allowed speed. (FAN2)

DU2 3.3V input voltage for the board is lower than the minimum allowed voltage.

DU2 5V input voltage for the board is lower than the minimum allowed voltage.

DU2 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

If normal voltage is not generated by 3.3V of Drive Unit 1 power supply alone, replace the power supply.

If normal voltage is not generated by 5V of Drive Unit 1 power supply alone, replace the power supply.

If normal voltage is not generated by 24V of Drive Unit 1 power supply alone, replace the power supply.

Stop the Drive Unit 1 as soon as possible and check whether the ambient temperature of the controller is not high.

Check whether the filter is not clogged up.

Check whether the filter of the

Drive Unit 1 is not clogged up.

Replace the fan.

Check whether the filter of the

Drive Unit 1 is not clogged up.

Replace the fan.

If normal voltage is not generated by 3.3V of Drive Unit 2 power supply alone, replace the power supply.

If normal voltage is not generated by 5V of Drive Unit 2 power supply alone, replace the power supply.

If normal voltage is not generated by 24V of Drive Unit 2 power supply alone, replace the power supply.

Note 2

Boundary value

100 times of boundary value

290 RC700 / RC700-A Rev.25

No.

9034

9035

9036

9041

9042

9043

9044

9045

9046

Message

DU2 Internal temperature of the Controller is higher than the allowed temperature.

DU2 Rotating speed of the controller fan is below the allowed speed. (FAN1)

DU2 Rotating speed of the controller fan is below the allowed speed. (FAN2)

DU3 3.3V input voltage for the board is lower than the minimum allowed voltage.

DU3 5V input voltage for the board is lower than the minimum allowed voltage.

DU3 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage.

DU3 Internal temperature of the Controller is higher than the allowed temperature.

DU3 Rotating speed of the controller fan is below the allowed speed. (FAN1)

DU3 Rotating speed of the controller fan is below the allowed speed. (FAN2)

Remedy

Stop the Drive Unit 2 as soon as possible and check whether the ambient temperature of the controller is not high.

Check whether the filter is not clogged up.

Check whether the filter of the

Drive Unit 2 is not clogged up.

Replace the fan.

Check whether the filter of the

Drive Unit 2 is not clogged up.

Replace the fan.

If normal voltage is not generated by 3.3V of Drive Unit 3 power supply alone, replace the power supply.

If normal voltage is not generated by 5V of Drive Unit 3 power supply alone, replace the power supply.

If normal voltage is not generated by 24V of Drive Unit 3 power supply alone, replace the power supply.

Stop the Drive Unit 3 as soon as possible and check whether the ambient temperature of the controller is not high.

Check whether the filter is not clogged up.

Check whether the filter of the

Drive Unit 3 is not clogged up.

Replace the fan.

Check whether the filter of the

Drive Unit 3 is not clogged up.

Replace the fan.

Reboot the controller.

Maintenance 9. Troubleshooting

Note 1 Note 2

9103

9104

Initialization failure.

Failed to initialize the user output.

Remote User Output failure.

Specified command cannot be executed.

(When RTU is selected)

Check whether the selected port is installed.

(When TCP is selected)

Check whether the selected port number is used by other

If the manipulator is specified, check whether the specified manipulator is registered.

Check the condition expression.

The module is broken or the controller software is damaged.

Restore the controller firmware.

RC700 / RC700-A Rev.25 291

Maintenance 9. Troubleshooting

No. Message

9610

9611

9612

9613

9614

9615

9616

9617

9620

Remedy

The module is broken or the controller software is damaged.

Restore the controller firmware.

RAS circuit detected a servo system malfunction. Reboot the controller.

Check for noise. Replace the controller.

Servo CPU internal RAM failure. Reboot the controller. Check for noise.

Replace the DMB.

RAM for the main and servo

CPU communication failure.

Reboot the controller. Check for noise. Replace the DMB.

Check the noise countermeasures.

Replace the DMB.

Check the noise countermeasures.

Replace the DMB.

Servo CPU internal RAM failure. Reboot the controller. Check for noise.

Replace the DMB.

Initialization communication of main CPU and servo CPU failure. Reboot the

Controller. Check for noise.

Replace DMB.

Initialization communication of the main and servo CPU failure. Reboot the controller. Check for noise.

Replace the DMB.

Check the noise countermeasures.

Replace the DMB.

Reboot the controller.

Check the noise countermeasures.

Replace the DMB.

For T series, it is not DMB but

CPU board.

Reboot the controller.

Check the noise countermeasures.

Replace the DMB.

For T series, it is not DMB but

CPU board.

Check the noise countermeasures.

Replace the DMB.

Communication of the main and servo CPU failure.

Reboot the controller. Check for noise. Replace the DMB.

Communication of the main and servo CPU failure.

Reboot the controller.

Check for noise. Replace the DMB.

System watchdog timer detected a failure. Reboot the controller. Check for noise.

Replace the DMB.

Reboot the controller.

Check the noise countermeasures.

Replace the DMB.

For T series, it is not DMB but

CPU board.

Reboot the controller.

Check the noise countermeasures.

Replace the DMB.

For T series, it is not DMB but

CPU board.

Check the noise countermeasures.

Replace the DMB.

Check the noise countermeasures.

Replace the DMB.

Reboot the controller.

Check the noise countermeasures.

Replace the DMB.

For T series, it is not DMB but

CPU board.

292

Note 1 Note 2

RC700 / RC700-A Rev.25

No.

9621 Drive unit check failure.

9622

9623

9624

9625

9626

9627

Message

RAM failure of the servo CPU.

Reboot the controller. Check for noise. Replace the DMB.

Failure of the redundant circuitry for the emergency stop or the safeguard.

Check the wiring.

Low voltage of the main circuit power supply was detected. Check the power supply voltage. Reboot the controller.

Control relay contact of the main circuit power supply is welded closed. Replace the

DPB.

Detect the recognition mismatch of the sub CPU and main CPU.

Temperature of regeneration resistor was higher than the specified temperature.

Remedy

Check the noise countermeasures.

Replace the DMB.

Check the noise countermeasures.

Replace the DMB.

Check the noise countermeasures.

Replace the DMB.

Check the noise countermeasures.

Replace the DMB.

Reboot the controller, take the measure against noise, or replace the CPU board.

Specify the Weight/Inertia setting.

Check the load.

Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake)

Check the interference with the peripheral equipment. (Collision, contact)

Check the model setting.

Check the power cable connection.

Maintenance 9. Troubleshooting

Note 1 Note 2

9628 Over voltage of the sub CPU. Replace the DPB board.

9632

9633

9640

Servo real time status failure.

Servo free running counter error

Servo real time status failure.

Servo CPU communication error.

Irregular motion control interruption was detected.

Interruption duplicate.

Reboot the controller.

Replace the DMB.

Check the noise countermeasures.

Reboot the controller.

Replace the DMB.

Check the noise countermeasures.

Reboot the controller.

Replace the DMB.

Check the noise countermeasures.

Reboot the controller.

Replace the DMB.

Check the noise countermeasures.

Check the connection of the cable for Drive Unit.

RC700 / RC700-A Rev.25 293

Maintenance 9. Troubleshooting

No. Message

9697

9698

9701

9702

Data sending failure of Force

Sensor I/F board.

Check connection of the

Force Sensor I/F board and

Force Sensor.

Data receiving failure of Force

Sensor I/F board.

Check connection of the

Force Sensor I/F board and

Force Sensor.

Disconnection of the parallel encoder signal. Check the signal cable connection or the robot internal wiring.

Motor driver is not installed.

Install the motor driver.

Check the DMB or the motor driver.

Remedy

Check connection of the Force

Sensor I/F board and Force

Sensor.

Reboot the controller.

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Check connection of the Force

Sensor I/F board and Force

Sensor.

Reboot the controller.

Please inquire with us if a similar error occurs even after the above countermeasures are taken.

Check the short-circuit and improper connection of the peripheral equipment wiring.

(Emergency and I/O connectors)

Replace the DMB.

Replace the additional axis unit.

For T series, reboot the controller, take the measure against noise, and replace the CPU board and motor unit.

Check the M/C cable signal.

Check the robot signal wiring.

(Missing pin, disconnection, shortcircuit)

Replace the motor. (Encoder failure)

Replace the DMB. (Detection circuit failure)

Check the connector connection in the controller. (Loosening, connecting to the serial encoder terminal on the DMB)

Check the model setting.

(Improperly setting of the parallel encoder)

Check the peripheral equipment wiring. (Emergency and I/O)

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Check whether the motor driver is mounted.

Check the model setting and hardware setting.

Replace the motor driver.

Replace the DMB.

For T series, check the wiring of the motor unit.

Note 1 Note 2

294 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

No.

9703

9704

9705

9706

9707

9709

9710

9711

Message

Initialization communication failure of incremental encoder. Check the signal cable connection and the robot setting.

Initialization failure of absolute encoder.

Check the signal cable connection or the robot setting.

Remedy

Check the model setting.

Replace the motor. (Encoder failure)

Replace the DMB.

For T series, reboot the controller, take the measure against noise, and replace the CPU board and motor unit.

Check the model setting.

Replace the motor. (Encoder failure)

Replace the DMB.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Encoder division setting failure. Check the robot setting.

Check the model setting.

Data failure at the absolute encoder initialization. Check the signal cable connection, the controller, or the motor.

Absolute encoder multi-turn is beyond the maximum range.

Reset the encoder.

No response from the serial encoder.

Check the signal cable connection, the motor, the

DMB, or the encoder IF board.

Serial encoder initialization failure.

Reboot the controller. Check the motor, the DMB, or the encoder IF board.

Serial encoder communication failure.

Reboot the controller. Check the motor, the DMB, or the encoder IF board.

Replace the motor. (Encoder failure)

Replace the DMB.

Check the noise countermeasures.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Reset the encoder.

Replace the motor. (Encoder failure)

Reset the encoder.

Replace the DMB.

Replace the motor. (Encoder failure)

Check the model setting.

(Improperly setting of the parallel encoder model)

Check the signal cable connection.

Replace the DMB and encoder I/F board.

Check the robot configuration.

Check the signal cable.

Replace the DMB and encoder I/F board.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Check the robot configuration.

Check the signal cable.

Replace the DMB and encoder I/F board.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Note 1 Note 2

RC700 / RC700-A Rev.25 295

Maintenance 9. Troubleshooting

No. Message

9712

9713

Servo CPU watchdog timer failure.

Reboot the controller. Check the motor or the DMB.

Current control circuit WDT failure.

Reboot the controller. Check the controller.

Remedy

Replace the DMB.

Check the noise countermeasures.

For T series, check the connection of the signal cable. Reboot the controller, take the measure against noise, and replace the motor unit.

Check the power cable connection.

Check the 15V power supply and cable connection.

Replace the DMB.

Check the noise countermeasures.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Note 1 Note 2

Reboot the controller.

9716

9717

9719

9720

9722

Power supply failure of the absolute encoder. Replace the battery to a new one.

Check the robot internal wiring.

Backup data failure of the absolute encoder. Reset the encoder.

Position failure of the absolute encoder.

Reset the encoder. Replace the motor.

Speed is too high at controller power ON. Stop the robot and reboot the controller.

9721 Absolute encoder over heat.

R/D transducer failure. Reset the encoder. Check resolver board or the robot internal wiring.

Reset the encoder.

Check the signal cable connection.

Reset the encoder.

Check the signal cable connection.

Replace the battery.

Check the signal cable connection.

Reset the encoder.

Replace the motor. (Encoder failure)

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Reboot the controller.

Reset the encoder.

For T series, reboot the controller, take the measure against noise, and replace the motor unit.

Check the interference with the other devices.

Lower the motion duty.

Wait until the temperature of the encoder decreases.

Resets the encoder.

Check the signal wiring of the manipulator (loose pin, disconnection, short).

Replace the resolver board.

296 RC700 / RC700-A Rev.25

No.

9723

G sensor communication failure. Check the signal cable connection or the robot internal wiring.

9725

9726

9730

Message

The multi rotational data and the R/D conversion data is different. Reset the encoder.

Disconnection of the resolver excitation signal. Reset the encoder. Check the resolver board or the robot internal wiring.

Speed is too high at controller power OFF. Reset the encoder.

9732 Servo alarm A.

Remedy

Check for the signal cable connection.

Check the signal wiring of the manipulator (loose pin, disconnection, short).

Check the noise countermeasure.

Replace the control board.

Replace the DMB.

Replace the control board.

Reset the resolver

Check the noise countermeasure.

Replace the resolver board.

Check the signal wiring of the manipulator (loose pin, disconnection, short).

Replace the resolver board.

Reboot the Controller.

Check the noise countermeasure.

Replace the DMB.

Reboot the Controller.

Check the noise countermeasure.

Replace the DMB.

For T series, check the shortcircuit and earth fault of the power cable. Reboot the controller or replace the motor unit.

Reboot the Controller.

Check the noise countermeasure.

Replace the DMB.

Reset the encoder.

Replace the motor.

Reset the encoder. Replace the motor.

For T series, reboot the controller and replace the motor unit.

Maintenance 9. Troubleshooting

Note 1 Note 2

RC700 / RC700-A Rev.25 297

Maintenance 9. Troubleshooting

No. Message

10000 Command aborted by user

10001 Command timeout.

10002 Bad point file line syntax

10003 Project could not be built.

10004 Cannot initialize Spel class instance.

10005 Cannot initialize parser.

10006 Cannot initialize wbproxy.

10007 Project does not exist.

10008 No project specified.

10009 Cannot open file.

10010 Cannot create file.

10011 File not found

10013

10014

Cannot execute LoadPoints with

Robot Manager open.

Project cannot be locked. It is being used by another session.

10015 Project could not be synchronized.

10016 Drive not ready

10017 Invalid IP address

10018 Invalid IP mask

10019

Invalid IP gateway

10020

IP address or gateway cannot be the subnet address.

10021

IP address or gateway cannot be the broadcast address.

10022

Invalid DNS address

10023

Commands cannot be executed because the project build is not complete.

10024 Invalid task name.

10100 Command already in cycle.

10101 Command aborted by user.

10102 Invalid server instance.

10103 Invalid CommandTask value.

10104

Cannot change ServerInstance after initialized.

10501 Connection aborted.

10502 Cannot connect with the controller.

10503

10504

10505

Controller firmware is not compatible with this version of RC+.

USB connection of this system is reserved for the RC620 Controller and cannot be used for RC+7.0.

The specified connection does not exist.

10600 Frame grabber driver not installed.

Remedy

Check whether the project name and the path are correct.

Specify the project.

Check whether the project name and the path are correct.

Close the robot manager and execute.

Terminate other applications.

Check whether the drive designation is correct.

Check the IP address.

Check the IP mask.

Check the IP gateway.

Check the IP address.

Check the DNS.

Execute after the project build is completed.

Check the task name.

Execute ResetAbort.

Specify the correct instance.

Specify the correct task number.

Set ServerInstance before initialization.

Upgrade the RC+ version.

Install the RC+7.0 to another computer.

Check the connection number.

Install the driver.

298

Note 1 Note 2

RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

9.2 Cannot Connect the Development PC and the Controller using the USB cable

CAUTION

 Do not connect the USB cable to a PC or a Controller without installing Program

Development Software EPSON RC+ 7.0 to the PC.

You must install EPSON RC+ 7.0 to control the Controller.

If the USB cable is connected to a PC or a Controller without installing Program

Development Software EPSON RC+ 7.0, the [Add New Hardware] wizard appears. Click the <Cancel> button to close the [Add New Hardware] wizard.

- If the following error message appears when connecting the development PC and

Controller with the USB cable and connecting the Controller to EPSON RC+ 7.0,

Windows may not recognize the Controller properly. Refer to

Maintenance

.2.1

Confirmation Using Windows Device Manager

to check the connection of the Controller.

“Cannot connect to controller

!! Error: 1805, Connection Failure. Check the controller startup and connection of the communication cable.”

- Displayed driver name varies depending on the Windows OS.

Windows XP 32-bit version:

“EPSON Robot Controller RC170”

Other than Windows XP 32-bit version:

“EPSON Robot Controller”

This section uses the dialogs and the driver name for Windows XP 32-bit version.

RC700 / RC700-A Rev.25 299

Maintenance 9. Troubleshooting

9.2.1 Confirmation Using Windows Device Manager

(1) Make sure that the development PC and the Controller is connected to the USB cable.

NOTE



When checking the Controller connection using the Windows device manager, the development PC and the Controller must be connected with the USB cable.

(2) Click Windows-[Control Panel]-<Performance and Maintenance>.

(3) The [Performance and Maintenance] dialog appears.

Click the <System> icon.

(4) The [System Properties] dialog appears.

Select the [Hardware] tab and click the <Device Manager> button.

300 RC700 / RC700-A Rev.25

Maintenance 9. Troubleshooting

(5) The [Device Manager] dialog appears.

Click <Universal Serial Bus controllers> and make sure that “EPSON Robot Controller

RC170” is registered.

NOTE



When “EPSON Robot Controller RC***” is registered and located under “Universal Serial

Bus controllers” in step (5), the development PC and the Controller connect properly.

If the following error message appears, please contact the supplier of your region.

“Cannot connect to controller.

!! Error: 1805, Connection failure, check the controller startup and connection of the communication cable.”

If “EPSON Robot Controller RC170” is not located under “Universal Serial Bus controllers” but located under “Other devices” in step (5), refer to

Maintenance

.2.2 When recognized under “Other devices” in Windows Device Manager

RC700 / RC700-A Rev.25 301

Maintenance 9. Troubleshooting

9.2.2 When recognized under “Other devices” in Windows Device

Manager

If “EPSON Robot Controller RC170” is recognized under “Other devices” in the Windows device manager as shown in the following dialog, delete “EPSON Robot Controller RC170” from the device manager and connect the USB cable again to correct the problem.

(1) Select and right click “EPSON Robot Controller RC170” in the [Device Manager] dialog.

(2) Select [Uninstall].

(3) The [Confirm Device Removal] dialog appears.

Click the <OK> button.

(4) Remove the USB cable and connect the USB cable again. The following message appears at the right bottom of the Windows screen.

(5) When the Controller is installed automatically and the following message appears, the communication is available.

302

NOTE



If the problem is not corrected, please contact the supplier of your region.

RC700 / RC700-A Rev.25

10. Maintenance Parts List

Part Name

Fan

Code

2157260

Fan Filter

Battery

Motor Driver

1596688

2195106

2113554

2176557

2172039

2188815

2171247

2168582

2188814

2171456

2171259

Motor driver (** A / ** A)

Controller Manipulator

5A/5A

10A/10A

15A/5A

15A/15A

15A/15A-2

30A/5A

30A/30A

50A/30A

RC700

RC700-A

Controller

RC700-A

C12

Manipulator

G10

G20

Joint #1, #2

15A/15A

2171247

R13N874021

15A/15A-2

2168582

−

50A/30A

2171259

−

30A/5A

2188814

Maintenance 10. Maintenance Parts List

Old Code

R13B060510

R13N865021

−

R13B060003

−

R13N874011

−

R13N874021

−

R13NZ90002

−

Joint #3, #4 Joint #5, #6

10A/10A

2172039

R13N874011

10A/10A

2172039

R13N874011

15A/15A-2

2168582

−

5A/5A

2176557

15A/5A

2188815

Remarks

MDB type

Code

Old Code

MDB type

Code

Old Code

MDB type 10A/10A

2172039 Code

R13N874011 Old Code

30A/5A

2188814

MDB type

Code

MDB type

Code

Joint #1, #2

15A/15A-2

2168582

−

30A/30A

2171456

R13NZ90002

10A/10A

2172039

R13N874011

Joint #3, #4

10A/10A

2172039

R13N874011

15A/15A-2

2168582

−

Note

Black

(While stock lasts)

White

See the table below for motor selection

Remarks

MDB type

Code

Old Code

MDB type

Code

Old Code

MDB type

Code

Old Code

RC700 / RC700-A Rev.25 303

Maintenance 10. Maintenance Parts List

The code of the following parts differs depending on the Controller.

Also, the code of RC700-A differs depending on the serial number (Note: R7********).

If you need the parts, please confirm the Controller type and serial number before contact us.

For RC700

Part Name

DMB-MAIN

DMB-SUB

DMB-LED

DPB

TP Bypass Plug

CF (Compact Flash)

Code

2180932

2151349

2151351

2171246

2111451

1605920

For RC700-A

CF(Compact Flash)

1605920

2195736

−

Old Code

R13N842021

R13N842031

R13N844011

R13B060705

R13N8B6011

−

R13N8B6011

−

Note

R7**00****

R7**01****

R7**02****

R7**03**** or later

R7**00****

R7**01****

R7**02****

R7**03**** or later

R7**00****

R7**01****

R7**02****

R7**03**** or later

C4 series

G series

RS series

2180933

DMB-

MAIN

DMB-SUB

DMB-LED

DPB

TP Bypass Plug

2189443

C8 series

C12 series

N series

X5 series

2182346

2189444

C, N series

2171261

G, RS series

2171816

X5 series

2184586

2171262

2171263

2171258

304 RC700 / RC700-A Rev.25

Maintenance 11. Option Parts List

11. Option Parts List

Part Name

Expansion I/O Board (Source

Code type)

R12NZ9003P

Expansion I/O Board (Sink type) R12NZ9003Q

RS-232C Board R12NZ9004E

DeviceNet Board R12NZ9004F

Old Code

R12B040302

R12B040303

R12B040726

R12B040727

PROFIBUS Board

CC-Link Board

PROFINET Board

EtherNet/IP Board

R12NZ9004H

R12B040729

R12NZ9004J R12B040730

R12NZ900A6

R12N747051

R12NZ900A7

R12N747061

EtherCAT Board

PG Board

Analog I/O Board (1CH)

Analog I/O Board (4CH)

Force Sensor I/F Board (FS2)

EUROMAP67 Board

(without IMM connection cable)

EUROMAP67 Cable1

EUROMAP67 Cable2

EUROMAP67 Emergency

Connector

Plug

EUROMAP67 Emergency

Connector

Shell

2165789

2194882

R12NZ900CL

−

R12NZ900A8

R12N748011

R12NZ900WZ −

R12NZ900X1 −

2184536

R12NZ90104

−

R12NZ9010A −

2194667

2194668

−

Note

DeviceNet module is mounted on the Fieldbus

Board.

PROFIBUS-DP module is mounted on the Fieldbus

Board.

CC-Link module is mounted on the Fieldbus

Board.

PROFINET module is mounted on the Fieldbus

Board.

EtherNet/IP module is mounted on the Fieldbus

Board.

EtherCAT module is mounted on the Fieldbus

Board.

EUROMAP67 without Cable2

For EUROMAP67 Board

Emergency Stop cable

For EUROMAP67 Board

IMM Connection cable

For EUROMAP67 Board

Soldering plug

For EUROMAP67 Board

Shell kit

RC700 / RC700-A Rev.25 305

Maintenance 11. Option Parts List

306 RC700 / RC700-A Rev.25

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