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Epson RC700 Manual

Robot controller fieldbus i/o.
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Robot Controller
RC700 / RC90 Option
Fieldbus I/O
Rev.12
EM179C3513F

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Table of Contents

   Also See for Epson RC700

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   Summary of Contents for Epson RC700

  • Page 1 Robot Controller RC700 / RC90 Option Fieldbus I/O Rev.12 EM179C3513F...
  • Page 3 Robot Controller RC700 / RC90 Option Fieldbus I/O Rev.12 Copyright © 2012-2017 SEIKO EPSON CORPORATION. All rights reserved. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 4 FOREWORD This manual contains important information necessary to use the Robot Controller RC700 / RC90 Option Fieldbus I/O properly and safely. This manual is intended for personnel who perform any operations using the pendant, such as teaching robot points. Please thoroughly read this manual and other related manuals before and while using the equipment.
  • Page 5 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 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 6 For T series Manipulator user only T series Manipulators are controller integrated manipulators. Read “Controller” and “Robot Controller” described in this manual as “T series Manipulator”. (However, except the screen of EPSON RC+.) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 7 Refer to the Robot Controller RC90 Setup & Operation 13.3 Fieldbus I/O Board. NOTE  Manual PDF for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2. Electronic information file for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2. NOTE  Fieldbus I/O supports the following OS.
  • Page 8 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 9: Table Of Contents

    2.1.5 DeviceNet Slave Module Installation ......52 2.2 PROFIBUS-DP .................57 2.2.1 How to Setup a PROFIBUS DP Network .......57 2.2.2 PROFIBUS DP Network Construction ......57 2.2.3 PROFIBUS-DP Master Board Installation ......62 2.2.4 PROFIBUS-DP Slave Board Installation ......85 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 10 4.2.3 Procedures for Examining Possible Causes ....245 4.3 EtherNet/IP Troubleshooting..........255 4.3.1 Examining a Problem ........... 255 4.3.2 Problems and Countermeasures ......... 257 4.3.3 Tests and diagnostics ........... 257 5. Maintenance Parts List ........264 viii RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 11: Introduction

    Fieldbus Sample Parallel Connection Sample Fieldbus Connection The Fieldbus master function can be added to the PC with the EPSON RC+ 7.0 installed by installing the Fieldbus master board. Each type of Fieldbus supports the following boards. DeviceNet master board...
  • Page 12 CC-Link slave board PROFINET slave board EtherCAT slave board You can install one Fieldbus slave board per controller. One Fieldbus master board and one Fieldbus slave board of different Fieldbus types can be used together. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 13: Devicenet

    Detachable communication connectors provide you with simple wiring between nodes and easy network separation or reconstruction. Specified environment-resistance cables allow you to construct an environment-resistant system at low cost. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 14 The data transfer frequency is defined by master configuration. For Change of State and Cyclic, the ACK which verifies communication completion NOTE  can be disabled by setting. However, never disable the ACK since communication errors cannot be detected. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 15: General Specifications

    2 wires for power supply, 1 shield wire) Communications 24 V DC (supplied from a connector) Power Supply Voltage * When thin cable is used for trunk line, the maximum network length is 100 m. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 16: Profibus Dp

    Maintenance parts stored on site (factory, etc.) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard PROFIBUS DP. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 17: General Specifications

    1200 m 19.2 kbps 1200 m 9.6 kbps 1200 m Maximum Stations 126 (including master unit and repeater) Data Length / 244 bytes Frame Cable 2-wire cable dedicated to PROFIBUS (2 wires for signal) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 18: Ethernet/ip

    Maintenance spare parts stored on site (factory, etc.) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard EtherNet/IP. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 19: General Specifications

    All connections are conformed to EtherNet/IP communication protocol. Baud Rates 100 Mbps, 10 Mbps 128 (including master unit) Maximum Nodes Data Length / Frame 244 bytes Access Control Type CSMA/CD Cable Universal Ethernet cable RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 20: Cc-link

    Maintenance parts stored on site (such as factory) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard PROFIBUS DP. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 21: General Specifications

    Bus (EIA RS485 compliant) Type HDLC compliant Transmission Format Maximum Number of 64 units Devices Slave Station Number 1 to 64 CC-Link Ver1.10 cable Connection Cable (3 core twist cable with a shield) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 22: Profinet

    PROFINET is defined by international standards “IEC 61158” and “IEC 61784”. Concept of PROFINET has been developed based on standard Ethernet of IEEE802 through a joint effort with its users. Functionality has been added to cover the area that standard Ethernet cannot satisfy. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 23: Profinet Communication

    IRT is used for applications where a strict real-time performance is required, such as motion control. As a communication hardware, switch-function-embedded special ASIC is used. This method guarantees the real-time performance by dividing the communication band on Ethernet. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 24: Ethercat

    Ethernet cable (STP cable). If you use an office use product or UTP cable, it may causes communication errors and may not offer the proper performance. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 25: General Specifications

    EtherCAT Communication Specifications Item Specification Baud Rates (bps) 100 M (Full duplex) Line, Tree, Star, Ring Network Topology Communication Range Distance between nodes: within 100 m Maximum Nodes 65535 Cable STP cable Category 5 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 26: Installation

    Turn ON the communications power supply. After that (or simultaneously), turn ON the nodes to supply power. When the power to the nodes is supplied earlier than the power to the communication power supply, communication with the nodes may fail. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 27: Devicenet Network Construction

    You can install masters anywhere in the network. You can connect up to 64 nodes (including the server) in the network. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 28 Communications Cable Signal Wire Type Color Details of Signal Wire Identity Blue Signal CAN L Signal wire White Signal High CAN H Communications Power Positive Power wire Black Communications Power Negative V− Shield wire Shield RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 29 Shield Ground of Signal Wire Ground the DeviceNet network at one point with 100 Ω or less. As a noise countermeasure, you can leave the network ungrounded. For details, refer to 4. Trouble shooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 30 In the figure above, each drop line length is as follows: Drop Line to Node 1: 4 m Drop Line to Node 2: 6 m Drop Line to Node 3: 6 m One drop line length should be 6m or less. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 31 5 A and 6 A on the right side. Power Supply Tap Terminating Trunk Line Terminating Resistor Resistor External Power Supply 24 V DC RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 32 If you cannot ground the network with 100 Ω or less, do not connect V- and FG wires.  Carefully connect the wires. Incorrect wiring may cause node malfunction and severe damage to the entire DeviceNet network. CAUTION RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 33 Loosen the screws securing the cables on the connector. If the screws are not NOTE  loosened, the wires go into different openings on the rear of connector instead of the correct openings and the wires cannot be secured. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 34 Specific screwdrivers for DeviceNet connector screw are: 0.6 mm 3.5 mm OMRON : XW4Z-00C Phoenix Contac : SZF-1 0.6×3.5 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 35: Devicenet Master Board Installation

    Strobe, Polling, Cyclic and Change of State Explicit Messaging Connection EDS Support Max. Input Data Size 1024 bits (128 bytes) Max. Output Data Size 1024 bits (128 bytes) Automatic Detection Yes. Devices can be detected automatically. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 36 DeviceNet master can control up to 64 nodes (max. 128 bytes) in one network. PLC is typically configured as a master and controls all nodes in factory automation system, but EPSON RC+ is also capable of being a master. DeviceNet network configuration is specified by configuration management software.
  • Page 37 2. Installation Software Installation Before adding DeviceNet master boards to the PC with the EPSON RC+ 7.0 installed, you must install the applicomIO Console application and drivers according to the type of the board you are using. Insert the applicomIO Console CD-ROM to the PC with the EPSON RC+ 7.0 installed.
  • Page 38 The applicomIO Console application installer runs and the [Welcome to the InstallShield Wizard for applicomIO] dialog box appears. Click <Next>. The [License Agreement] dialog box appears. Read the software license agreement and click <Next>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 39 Specify the installation folder for the applicomIO Console application. The default specifies here: C:\Program Files(x86)\BoadCommunications\applicomIO\4.2 If you agree to the default installation folder, click <Next>. 10. The [Ready to Install the Program] dialog box appears. Click <Install>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 40 Click <Finish>. 12. The message prompting you to reboot your PC appears. Select “Yes” and reboot the PC. 13. Refer to the next section Board Installation to install the DeviceNet master board. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 41 0: Short 0: Short Install the DeviceNet master board to the PCI bus of the PC with the EPSON RC+ 7.0 installed. Installation method of the DeviceNet board to the PCI bus and how to open the cover differ depending on the type of computers. Refer to the manuals of each computer on how to install the board to the PCI bus.
  • Page 42 When the applicomIO Console application shuts down, the message below appears. Click <Yes>. The next message dialog follows. Click <OK>. Reboot the Windows. After the PC is rebooted, refer to the next section Master Mode and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 43 (EDS file) that is necessary for the network setup. Select [Protocol]. Select the [Equipment Library] tab. Click the <Add> icon. The [Select configuration files] dialog box appears. Specify the EDS file that is supplied by the device manufacturer. Click <Open>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 44 When the load exceeds 60%, the DeviceNet network communication will be unstable, for example, more communication errors. Set the configuration to minimize the load. For verification of the load on the bus using the applicomIO Console application, refer to 4. Troubleshooting in this manual. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 45 12. The following message appears. Click <Yes>. 13. The [Network Detection] dialog box appears and the devices on the Fieldbus will be read in. 14. The list of detected devices is displayed in [Network detection] panel. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 46 2. Installation 15. Select a device you want to scan. (16) (15) 16. Click the <Insert in Configuration> icon. 17. The following dialog box appears. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 47 Communication with the slave device is not performed if they do not match. Change the information of either Connections Parameters or Fieldbus master board. Please consult with the slave device manufacturer if the information is unclear. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 48 In this case, obtain the EDS file from the device manufacturer and register it by following the step 7. After that, follow the step 10. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 49 2. Installation 18. Check the communication status with each slave devices. Click the <Diagnostic> icon. 19. The [Diagnostic Board] dialog box is displayed. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 50 Connections Parameters for the Fieldbus master board can be checked by the following procedure. First, select the slave device which is registered to the Fieldbus master board. Then, click the left mouse button and select <Properties>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 51 2. Installation The property information of selected slave device is displayed. Select the [Connection Configuration] tab. Connections Parameters appear to communicate with the slave device. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 52 21. After few seconds, the display of “Configured boards state” on the status bar turns to green. Now, the Fieldbus master board is ready to operate in the master mode. 22. Close the applicomIO Console application. 23. Refer to the section EPSON RC+7.0 configuration and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 53 To use the Fieldbus master board, the Robot system option setting and Fieldbus master setting should be enabled on the EPSON RC+ 7.0. Select [Setup]-[Option Setting] and display the [Option] dialog box. See the EPSON RC+ Users Guide: 20. Installing Controller Options and enable the Fieldbus Master option. The following message dialog appears.
  • Page 54 12. Select [Fieldbus Master]-[General]. (10) (11) 13. Confirm that the following is displayed. Total Input Bytes : Number of inputs the master controls (Bytes) Total Output Bytes : Number of outputs the master controls (Bytes) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 55 : Number of inputs per slave (Bytes) Output Bytes : Number of outputs per slave (Bytes) Spel Inputes : Number of inputs per slave (Bits) Spel Outputs : Number of outputs per slave (Bits) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 56: Devicenet Slave Board Installation

    The Fieldbus slave board is configured as follows at shipment. Board Appearance Configuration DSW2 DSW1 JMP1 IRQ5 IRQ7 IRQ10 IRQ11 IRQ15 JMP1 All Open All ON Fixed as above All Open DSW2 DSW1 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 57 LED status represents the status of the fieldbus board. LED status Communications power supply OFF Device power supply OFF Disconnected Link OK Device operating Online connected Blinking Online disconnected Data size error Link error Critical error Blinking Communication time out Error RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 58 Terminal name for each pin Terminal Number Terminal Name CAN_L SHELD CAN_H NOTE  Prepare the cable for DeviceNet sold in the market as a communication cable. Install terminating resistors at both ends of the network. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 59 Confirmation with EPSON RC+ 7.0 When the DeviceNet slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the DeviceNet slave board using the following procedure. 1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 60 3. Change the settings of [Input Bytes] and [Output Bytes]. In this example, both of them are changed to 20 Bytes. 4. Click <Apply>. 5. Click <Close> and the following message dialog appears. The Robot Controller automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 61 Fieldbus master device by the applicomIO Console application. Electronic Information File (EDS file) An EDS file is supplied for DeviceNet slave board network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\DeviceNet RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 62: Devicenet Slave Module Installation

    1 DeviceNet port Max. Input data size 2048 bits (256 bytes) 2048 bits (256 bytes) Max. Output data size * When Thin cable is used for trunk line, the maximum network length is 100 m. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 63 CAN high bus line Positive bus supply voltage (DeviceNet bus power) NOTE  Prepare the cable for DeviceNet sold in the market as a communication cable. Install terminating resistors at both ends of the network. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 64 When the DeviceNet slave module is installed to the T3 series Manipulator, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the DeviceNet module board using the following procedure. 1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 65 Check the master configuration and set the same baud rate. 5. Change the settings of [Input Bytes] and [Output Bytes]. 6. Click <Apply>. 7. Click <Close> and the following message dialog appears. T3 series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 66 Fieldbus master device by the applicomIO Console application. Electronic Information File (EDS file) An EDS file is supplied for DeviceNet slave board network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\DeviceNet RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 67: Profibus-dp

    PROFIBUS DP network is configured as shown in the following figure. Network Master 1 Master 2 Cable Terminating Resistor ON Terminating Slave Resistor ON Slave Slave Slave Slave Repeater Terminating Resistor ON Terminating Resistor ON Slave Slave Slave Slave Slave RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 68 Supply voltage to terminating resistor (P5V) Output voltage (24 V) RxD/TxD-N Data line A CNTR-N Repeater control signal (directional control) Use pins 2 and 7 for connecting a maintenance device without any power supply. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 69 Some commercially available PROFIBUS 9-pin D-Sub connectors have functions of terminating resistor and they can enable/disable the terminating resistors. (Example: Woodhead MA9D00-32) Molded terminating resistors with connector that can be attached to environment-resistant M12 connector are also available. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 70 Slave Slave Slave Slave When the master receives the logic token, it inquires data from its slaves. After all communications are completed, the master passes the token to another master. In this way, RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 71 Carefully connect the same signal wire to the same terminal on both ends. To prevent faulty wiring, make a rule of connection. For instance, connect the green signal wire to the A1/A2 terminal and the red signal wire to the B1/B2 terminal. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 72: Profibus-dp Master Board Installation

    GDS Support PROFIBUS DP Class 1 PROFIBUS DP Class 2 Max. Input Data Size 1024 bits (128 bytes) Max. Output Data Size 1024 bits (128 bytes) Automatic Detection Yes. Devices can be detected automatically. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 73 PROFIBUS DP master can control up to 126 stations (max. 128 bytes) in one network. PLC is typically configured as a master and controls all devices in factory automation system, but EPSON RC+ is also capable of being a master. PROFIBUS DP network configuration is specified by the configuration management software.
  • Page 74 2. Installation Software Installation Before installing the PROFIBUS-DP master board to the PC with the EPSON RC+ 7.0 installed, you must install the applicomIO Console application and drivers according to the type of board you are using. Insert the applicomIO Console CD-ROM to the PC with the EPSON RC+ 7.0 installed.
  • Page 75 The applicomIO Console application installer starts up and the [Welcome to the InstallShield Wizard for applicomIO] dialog box appears Click <Next>. The [License Agreement] dialog box appears. Read the software license agreement and click <Next>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 76 Specify the installation folder for the applicomIO console application. The default specifies here: C:\Program Files(x86)\BoadCommunications\applicomIO\4.2 If you agree to the default installation folder, click <Next>. 10. The [Ready to Install the Program] dialog box appears. Click <Install>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 77 After the installation completes, the [InstallShield Wizard Completed] dialog box appears. Click<Finish>. 12. The message prompting you to reboot your PC appears. Select “Yes” and reboot the PC. 13. Refer to the next section Board Installation and install the PROFIBUS-DP master board. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 78 WARNING Configure the board address dip switch (JP1) on PROFIBUS-DP master board. You can install one Fieldbus master board to the PC with the EPSON RC+ 7.0 installed. The board number should be “1”.
  • Page 79 When closing the applicomIO Console application, the following message box appears. Click <Yes>. The following dialog appears. Click <OK>. Reboot the Windows. After the PC is rebooted, refer to the next section Master Mode and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 80 Start the applicomIO Console application. The [applicomIOR console] dialog box appears. Register the device information (GSD file) that is necessary for the network setup. Select “Protocol”. Select the [Equipment Library] tab. Click the<Add> icon. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 81 Robot system. Click <Next>. Following dialog box appears. Specify the folder in which the GSD file is stored. Select <Add all the GSD from the Directory>. (10) Click <Browse>. 10. Click <Next>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 82 2. Installation 11. The following dialog box appears. Confirm the retrieved device information. 12. Click <Next>. 13. The following dialog box appears. Click <Finish> to complete the GSD file registration. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 83 14. Configure the PROFIBUS-DP master. Select “Protocol” and then select [Description]-[Properties] from the applicomIOR console menu. 15. The [Channel Properties] dialog box appears. Selecct “Profibus, Master/Slave” and click <OK>. 16. Select [Protocol]-[Properties]-[Configuration]from the applicomIOR console menu. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 84 Station), and Highest Station Address in the network. When the PROFIBUS-DP master setting is completed, click <OK>. 18. Select the [Network Detection] tab. (13) (12) 19. Clcik the <Read Network Configuration> icon. 20. The following message box appears. Click <Yes>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 85 Station), and Highest Station Address in the network. Click <OK>. 22. The [Network Detection] dialog box appears and starts scanning the devive information on the Fieldbus. 23. The list of detected devices is displayed in the [Network Detection] panel. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 86 24. Select a device you want to register as slave. (18) (17) 25. Click the <Insert in Configuration> icon. 26. The following dialog box appears. The device name is displayed in the title of the dialog box. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 87 Communication with the slave device is not performed if they do not match. Change the information of either Connections Parameters or Fieldbus master board. Please consult with the slave device manufacturer if the information is unclear. 28. Click <OK> to complete the registration. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 88 2. Installation 29. Check the communication status with each slave devices. Click the <Diagnostic> icon. The [Diagnostic Board] dialog box is displayed. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 89 Connections Parameters for the Fieldbus master board can be checked by the following procedure. First, select the slave device which is registered to the Fieldbus master board. Then, click the left mouse button and select <Properties>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 90  configuration; otherwise, the Fieldbus master board cannot correctly function. Also, you cannot control it from EPSON RC+7.0. If you changed the configuration, select [File]-[Download in Flash] from the applicomIOR console menu and register the configuration to the Fieldbus master board.
  • Page 91 Now, the Fieldbus master board is ready to operate in the master mode. 32. Close the applicomIO console application. 33. Refer to the section EPSON RC+7.0 configuration and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 92 EPSON RC+ 7.0. Select [Setup]-[Option Setting] and display the [Option] dialog box. Refer to the EPSON RC+ Users Guide: 18. Installing Controller Options and enable the Fieldbus Master option. The following message dialog appears.
  • Page 93 12. Select [Fieldbus Master]-[General]. (13) (12) 13. Confirm that the following are displayed. Total Input Bytes : Number of inputs the master controls (Bytes) Total Output Bytes : Number of outputs the master controls (Bytes) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 94 : Number of inputs per slave (Bytes) Output Bytes : Number of outputs per slave (Bytes) Spel Inputs : Number of inputs per slave (Bits) Spel Outputs : Number of outputs per slave (Bits) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 95: Profibus-dp Slave Board Installation

    The Fieldbus slave board is configured as follows at shipment. Board Appearance Configuration DSW2 DSW1 JMP1 IRQ5 IRQ7 IRQ10 IRQ11 IRQ15 JMP1 All Open All ON Fixed as above All Open DSW1 DSW2 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 96 Data unexchangeable Initialization error 1 Hz blinking − − (Mismatch with network configuration) Initialization error 2 Hz blinking − − (Mismatch with user parameter) Initialization error 4 Hz blinking − − (Module initialization error) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 97 Install terminating resistors at both ends of the network. A terminating resistor is installed in the PROFIBUS-DP slave board. Turn the terminating resistor ON or OFF using the terminator switch on the front panel. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 98 Confirmation with EPSON RC+ 7.0 When a PROFIBUS-DP slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the PROFIBUS-DP board using the following procedure. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 99 Editing of input / output size You can change the input/output size of PROFIBUS-DP slave board if necessary. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. Select [Inputs / Outputs]-[Fieldbus Slave]-[General]. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 100 Outputs : 512 – ( 512 + Changed number of output (Bits) ) In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in Inputs. Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 101 Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the aplicomIO console application. 16 Byte Out Output : 20 Byte 4 Byte Out 16 Byte In Input : 20 Byte 4 Byte In RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 102 16 Word In Input: 32Byte Electronic Information File (GSD file) A GSD file is supplied for PROFIBUS-DP slave board network configuration. The file is located in the following folder where the EPSON RC+7.0 is installed. \EpsonRC70\Fieldbus\Profibus For Robot Controller RC700 EPSN0E06.gsd For Robot Controller RC90 EPSB0D5E.gsd...
  • Page 103: Profibus-dp Slave Module Installation

    2-wire cable dedicated to PROFIBUS (2 wires for signal) Modes Slave Interface 1 PROFIBUS-DP port (EN 50170) Output Maximum 150 mA Current Capacity Max. Input Data Size 1952bits (244bytes) * Max. Output Data Size 1952bits (244bytes) * RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 104 +5 V termination power (isolated, short-circuit protected) A Line Negative RxD/TxD, RS485 level Housing Cable Shield Internally connected to the Anybus protective earth via cable shield fil- ters according to the PROFIBUS standard. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 105 Confirmation with EPSON RC+ 7.0 When a PROFIBUS-DP slave module is installed to the T3 series Manipulator, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the PROFIBUS-DP module using the following procedure. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 106 Node address Device Name Generally, node addresses are Service unit such as PG/PC recommended to be configured Operation panel such as HMI as shown in the table. Master station 3-125 DP slave station RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 107 Outputs : 512 – ( 512 + Changed number of output (Bits) ) In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in Inputs. Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 108 Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the aplicomIO console application. 16 Byte Out Output : 20 Byte 4 Byte Out 16 Byte In Input : 20 Byte 4 Byte In RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 109 16 Word In Input: 32Byte Electronic Information File (GSD file) A GSD file is supplied for PROFIBUS-DP slave module network configuration. The file is located in the following folder where the EPSON RC+7.0 is installed. \EpsonRC70\Fieldbus\Profibus For T series Manipulator, EPSN0FED.gsd...
  • Page 110: Ethernet/ip

    Install the EtherNet/IP board in the controller. When installing the EtherNet/IP master board, Refer to 2.3.3 EtherNet/IP Master Board Installation. When installing the EtherNet/IP slave board, Refer to 2.3.4 EtherNet/IP Slave Board Installation. Operate the EtherNet/IP network. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 111: Ethernet/ip Network Construction

    However, be sure to use a product complying with the industrial standards or noise resistant Ethernet cable (STP cable). If you use an office use product or UTP cable, it may cause communication errors and may not offer the proper performance. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 112: Ethernet/ip Master Board Installation

    Cyclic, Change of State connection EDS support Part Number Max. Input Data Size 1024 bit (128 bytes) Max. Output Data Size 1024 bit (128 bytes) Automatic Detection Yes. Devices can be detected automatically. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 113 EtherNet/IP master can control up to 127 nodes (max. 128 bytes) on one network. PLC is typically configured as a master and controls all nodes in factory automation system, but EPSON RC+ is also capable of being a master. EtherNet/IP network configuration is specified by configuration management software.
  • Page 114 2. Installation Software Installation Before installing the EtherNet/IP master board to the PC with the EPSON RC+ 7.0 installed, you must install the applicomIO Console application and drivers according to the type of board you are using. Insert the applicomIO Console CD-ROM to the PC with the EPSON RC+ 7.0 installed.
  • Page 115 The applicomIO Console application installer runs and the [Welcome to the InstallShield Wizard for applicomIO] dialog box appears. Click <Next>. The [License Agreement] dialog box appears. Read the software license agreement and click <Next>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 116 Specify the installation folder for the applicomIO Console application. The default specifies here: C:\Program Files(x86)\BoadCommunications\applicomIO\4.2 If you agree to the default installation folder, click <Next>. 10. The [Ready to Install the Program] dialog box appears. Click <Install>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 117 Click <Finish>. 12. The message prompting you to reboot your PC appears. Select “Yes” and reboot the PC. 13. Refer to the next section Board Installation to install the EtherNet/IP master board. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 118 0: Short 0: Short Install the EtherNet/IP master board to the PCI bus of the PC with the EPSON RC+ 7.0 installed. Installation method of the EtherNet/IP board to the PCI bus and how to open the cover differ depending on the type of computers. Refer to the manuals of each computer on how to install the board to the PCI bus.
  • Page 119 Confirm that “PCI/PCU-ETHIO” is displayed in [Board to Add]-[Board Type] and click <OK>. If the board cannot be detected, the following dialog box appears. Make sure that the board is correctly inserted. The [Channnel Properties] dialog box appears. Select [Protocol]-[EtherNet/IP] and click <OK>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 120 When closing the applicomIO Console application, the following message appears. Click <Yes>. 10-2 The following message appears. Click <OK>. 10-3 Reboot the Windows. 11. After the PC is rebooted, refer to the next section Master Mode and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 121 Start <applicomIO Console> application. The [applicomIOR console] dialog box appears. Register the device information (EDS file) that is necessary for the network setup. Select “Protocol”. Select the [Equipment Library] tab. Click the <Add> icon. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 122 Robot system. Click <Next>. The following dialog box appears. Specify the folder in which the EDS file is stored. Select <Add all the EDS from the Directory>. (10) Click <Browse>. 10. Click <Next>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 123 2. Installation 11. The following dialog box appears. Confirm the retrieved device information. (11) (12) 12. Click <Next>. 13. The following dialog box appears. Click <Finish> to complete the EDS file registration. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 124 16. The following message appears. Click <Yes>. 17. Specify the range of detection. If you do not change the range, click <OK>. 18. The following dialog box appears and read in the devices on the Fieldbus. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 125 22. The following dialog box appears. Uncheck the [Link Parameters] checkbox. 23. Assign a number in the range from 1 to 127 in <Number: >. This number is “Device ID” and required to create a SPEL+ program. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 126 24-1 Double-click the items to change if necessary. After changing items, click <OK> button. (The figure below is an example of edit screen of Output Size) 25. Click <OK> to complete the registration. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 127 2. Installation 26. Check the communication status with each slave devices. Click the <Diagnostic> icon. 27. The [Diagnostic Board] dialog box is displayed. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 128 Connections Parameters for the Fieldbus master board can be checked by the following procedure. First, select the slave device which is registered to the Fieldbus master board. Then, click the left mouse button and select <Properties>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 129 2. Installation The property information of selected slave device is displayed. Select <General> on the [Connections] tab. Connections Parameters appear to communicate with the slave device. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 130 Now, the Fieldbus master board is ready to operate in the master mode. 30. Close the applicomIO console application. 31. Refer to the section EPSON RC+7.0 configuration and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 131 To use the Fieldbus master board, the Robot system option setting and Fieldbus master setting should be enabled on the EPSON RC+ 7.0. Select [Setup]-[Option Setting] and display the [Option] dialog box. See EPSON RC+ User’s Guide: 22. Installing Controller Options and enable the Fieldbus Master option. The following dialog box appears.
  • Page 132 12. Select [Fieldbus Master]-[General]. (13) (12) 13. Confirm that the following are displayed. Total Input Bytes : Number of inputs the master controls (Bytes) Total Output Bytes : Number of outputs the master controls (Bytes) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 133 If connecting the EtherNet/IP slave device that supports “Encapsulation Inactivity Timeout”, connection will be disconnected due to inconsistency with standard update on the above. You need to change the set value of “Encapsulation Inactivity Timeout” on the Fieldbus EtherNet/IP master board side. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 134 Instance Attribute Service Name Set_Attribute_Single Data 0000 (4) Click the <Send to Device> button. (5) Confirm that the “CIP Status: 0x0. Success” is displaye on the [Status]. Now, changing the setting is complete. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 135: Ethernet/ip Slave Board Installation

    Max. Input data size 2048bits (256bytes) Max. Output data size 2048bits (256bytes) Assembly Instance Input: 100 (64h) size: Depending on I/O settings Output: 150 (96h) size: Depending on I/O settings Configuration: 1 size: 0 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 136 However, be sure to use a product complying with the industrial standards or noise resistant Ethernet cable (STP cable). If you use an office use product or UTP cable, it may cause communication errors and may not offer the proper CAUTION performance. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 137 Confirmation and configuration of EPSON RC+ 7.0 When the EtherNet/IP slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the EtherNet/IP slave board using the following procedure. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 138 When Address Configuration is set to “DHCP/BOOTP/ARP”, the controller waits for NOTE  DHCP/BOOTP/ARP sever response for 30 seconds at controller startup. When DHCP/BOOTP/ARP does not respond within the time, the Controller stops the request to the DHCP/BOOTP/ARP server and waits ARP. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 139 Change the settings of [Input Bytes] and [Output Bytes]. In this example, both of them are changed to 20 Bytes. Click <Apply>. Click <Close> and the following dialog box appears. The Robot Controller automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 140 Fieldbus master device by the aplicomIO Console application. Electronic Information File (EDS file) An EDS file is supplied for EtherNet/IP slave Board network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherNet/IP RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 141: Ethernet/ip Slave Module Installation

    Baud Rates 10 M, 100 M (bps) Transfer Distance Standard Ethernet protocol Cable Standard Ethernet protocol Mode Slave Interface 1 EtherNet/IP port Max. Input data size 2048bits (256bytes) Max. Output data size 2048bits (256bytes) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 142 WARNING equipment. Set all EtherNet/IP modules configure switches OFF. Otherwise, the initialization error occurs. All the EtherNet/IP communication configurations are set by the development software (EPSON RC+ 7.0). RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 143 Confirmation and configuration of EPSON RC+ 7.0 When the EtherNet/IP slave module is installed to the T3 series Manipulator, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the EtherNet/IP slave module using the following procedure. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 144 When Address Configuration is set to “DHCP/BOOTP/ARP”, the controller waits for NOTE  DHCP/BOOTP/ARP sever response for 30 seconds at controller startup. When DHCP/BOOTP/ARP does not respond within the time, the Controller stops the request to the DHCP/BOOTP/ARP server and waits ARP. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 145 Change the settings of [Input Bytes] and [Output Bytes]. In this example, both of them are changed to 20 Bytes. Click <Apply>. Click <Close> and the following dialog box appears. T3 series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 146 Fieldbus master device. Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the aplicomIO Console application. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 147 Electronic Information File (EDS file) An EDS file is supplied for EtherNet/IP slave module network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherNet/IP RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 148: Cc-link

    The Fieldbus slave board is configured as follows at shipment. Board Appearance Configuration DSW2 DSW1 JMP1 IRQ5 IRQ7 IRQ10 IRQ11 IRQ15 JMP1 All Open All ON Fixed as above All Open DSW1 DSW2 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 149 Switches on the ×10 side are for tenths digit address value configuration. Switches on the ×1 side are for units digit address value configuration. Stations from 1 to 62 are available. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 150 Make sure to disconnect the connectors only after turning OFF the power supply of the specific station. Connect the shield wire for CC-Link to the “SLD” of each unit and ground the both ends via “FG”. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 151 Confirmation of EPSON RC+ 7.0 When the CC-Link slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the CC-Link board using the following procedure. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 152 Change the settings of [Input Byte] and [Output Byte]. In this example, both of them are changed to 20 Bytes. Click <Apply>. Click <Close> and the following dialog box appears. The Robot Controller automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 153 Outputs : 512 – ( 512 + Changed number of output (Bits) ) In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in Inputs. Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs. Click <Close>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 154 Paused RXn3 Error RXn4 EStopOn RXn5 SafeguardOn RXn6 SError RXn7 Waning RXn8 MotorsOn RXn9 AtHome RXnA CurrProg1 RXnB CurrProg2 RXnC CurrProg4 RXnD AutoMode RXnE TeachMode RXnF ErrorCode1 RX(n+1)0 ErrorCode2 RX(n+1)1 ErrorCode4 RX(n+1)2 ErrorCode8 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 155 Control Input and Output setting later in this manual. *2 When initialization of the CC-Link board is completed at the Controller turn-on, Remote Ready flag [RX(n+5)B] turns ON. I/O assignment of Remote Ready cannot be changed or disabled (NA). RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 156 *1: Remote control inputs and outputs are not allocated to fieldbus slave I/O by default. To allot remote control input and output to fieldbus slave I/O, refer to 3.5 Remote Control Input and Output setting later in this manual. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 157 Bits indicated as “NA” are left for user. Use these free for SPEL+ program. Address Signal Name Controller Word No Controller Bit No RWwm 608 to 623 RWwm+9 752 to 767 RWwm+A System reserved RWwm+B System reserved RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 158 Electronic Information File (CSP File) A CSP file is supplied for the CC-Link slave board network configuration. The file is located in the following folder in where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\CCLink According to the inpout/output size, the CSP file you use differs.
  • Page 159: Cc-link Slave Module Installation

    Dedicated cable supporting CC-Link Ver.1.10 Slave Mode Interface 1 CC-Link V1 port Occupied Stations 1 to 4 station(s) (Remote device station) Master Station’s Handshake Max. Input Data Size 384bits (48bytes) 384bits (48bytes) Max. Output Data Size RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 160 Make sure to disconnect the connectors only after turning OFF the power supply of the specific station. Connect the shield wire for CC-Link to the “SLD” of each unit and ground the both ends via “FG”. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 161 Confirmation of EPSON RC+ 7.0 When the CC-Link slave module is installed to the T3 series Manipulator, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the CC- Link board using the following procedure. (1) Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 162 (3) Change the settings of [Input Byte] and [Output Byte]. In this example, both of them are changed to 20 Bytes. (4) Click <Apply>. (5) Click <Close> and the following dialog box appears. T3 series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 163 RXn0 to RX(n+5)F → RX60 to RXAF Remote Output RYn0 to RY(n+5)F → RY60 to RYAF Remote Input List (3 stations occupied, Default configuration *1) Signal direction: Remote device station (CC-Link board) → Master station (PLC) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 164 RX(n+1)9 ErrorCode1024 RX(n+1)A ErrorCode2048 RX(n+1)B ErrorCode4096 RX(n+1)C ErrorCode8192 RX(n+1)D CmdRunning RX(n+1)E CmdError RX(n+1)F RX(n+2)0 RX(n+4)F RX(n+5)0 RX(n+5)1 RX(n+5)2 RX(n+5)3 RX(n+5)4 RX(n+5)5 RX(n+5)6 RX(n+5)7 RX(n+5)8 RX(n+5)9 RX(n+5)A RX(n+5)B Remote Ready RX(n+5)C RX(n+5)D RX(n+5)E RX(n+5)F RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 165 Control Input and Output setting later in this manual. *2: When initialization of the CC-Link module is completed at the Robot system turn-on, Remote Ready flag [RX(n+5)B] turns ON. I/O assignment of Remote Ready cannot be changed or disabled (NA). RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 166 *1: Remote control inputs and outputs are not allocated to fieldbus slave I/O by default. To allot remote control input and output to fieldbus slave I/O, refer to 3.5 Remote Control Input and Output setting later in this manual. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 167 Bits indicated as “NA” are left for user. Use these free for SPEL+ program. Robot System Robot System Address Signal Name Word No Bit No RWwm 608~623 RWwm+9 752~767 RWwm+A System reserved RWwm+B System reserved RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 168 Remote register is in numeric data. Electronic Information File (CSP File, CSP+ File) CSP file, CSP+ file are supplied for the CC-Link slave board network configuration. The file is located in the following folder in where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\CCLink CSPfile According to the inpout/output size, the CSP file you use differs.
  • Page 169: Profinet

    The Fieldbus slave board is configured as follows at shipment. Board Appearance Configuration DSW2 DSW1 JMP1 IRQ5 IRQ7 IRQ10 IRQ11 IRQ15 JMP1 All Open All ON Fixed as above All Open DSW1 DSW2 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 170 - I/O size set by IO controller is once too large. - Structure mismatched (No module, wrong module) Blinking No station name has been set or 3 times No IP address has been set Blinking Internal error 4 times RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 171 WARNING equipment. Install the board to the dedicated slot on the Robot Controller. Reference manual: Robot Controller RC700: Maintenance 6.10 Option Board Robot Controller RC90: Maintenance 6.8 Option Board RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 172 Confirmation with EPSON RC+ 7.0 When PROFINET slave board is installed in the controller, it is recognized automatically. Confirm that EPSON RC+ 7.0 has recognized the board in the following procedure. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 173 The PROFINET option does not have the alert function that is an optional function  in DAP Ver.2. Click <Apply>. Click <Close> and the following dialog box appears. The Robot Controller automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 174 Electronic Information File (GSDML file) A GSDML file is provided for the PROFINET slave board network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\PROFINET RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 175: Profinet Slave Module Installation

    100 m Cable RJ45 with connector 100BASE-TX (Cat5) Cycle time 2 ms Interface RJ45 port × 1 Input Data Size Max. 2048 bits (256 bytes) Output Data Size Max. 2048 bits (256 bytes) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 176 LINK/Activity LED LED State Description Comments No Link No link, no communication present Green Link Ethernet link established, no communication present Green, flickering Activity Ethernet link established, communication present RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 177 WARNING equipment. Install the module to the dedicated slot on the T3 series Manipulator. Reference manual: T3 series Manipulator Setup&Operation 17. Fieldbus I/O RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 178 Confirmation with EPSON RC+ 7.0 When PROFINET slave module is installed in the T3 series Manipulator, it is recognized automatically. Confirm that EPSON RC+ 7.0 has recognized the module in the following procedure. 1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 179 The PROFINET option does not have the alert function that is an optional function  in DAP Ver.2. Click <Apply>. Click <Close> and the following dialog box appears. T3 series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 180 Electronic Information File (GSDML file) A GSDML file is provided for the PROFINET slave module network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\PROFINET RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 181: Ethercat

    IN: EtherCAT input / OUT: EtherCAT Output Input Data Size Max. 2048 bits (256 bytes) Output Data Size Max. 2048 bits (256 bytes) CANopen over EtherCAT (CoE) Device Profile PDO (Process Data Object) SDO (Service Data Object) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 182 Configure switch configuration Configuration of an EtherCAT board is not necessary. All settings such as communication configuration for EtherCAT are done by the EPSON RC+ 7.0. Wiring Wiring of an EtherCAT slave board uses RJ45 connectors. Make sure to use STP-type 100BASE-TX cables.
  • Page 183 Confirmation with EPSON RC+ 7.0 When an EtherCAT slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 7.0 has recognized the EtherCAT board using the following procedure. (1) Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 184 The input/output size has limitations. Select any of 32 bytes, 64 bytes, 128 bytes, or 256 bytes for both [Input Bytes] and [Output Bytes]. [Input Bytes] and [Output Bytes] may have a different size. (4) Click <Apply>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 185 In this example, Input byte is 20 bytes (160 bits) and “512-671” is displayed in “Inputs”. Also, Output byte is 20 bytes (160 bits) and “512-671” is displayed in “Outputs”. (9) Click <Close>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 186 Control of I/O data with the EtherCAT master is possible. Electronic Information File (ESI file) An ESI (EtherCAT Slave Information) file is supplied for EtherCAT slave board network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherCAT EPSN_RC90_ECT_V2.3.xml...
  • Page 187 When “256” bytes is set for [Output Bytes], select two of “TxPDO(128byte/256byte)” (Example) When [Inoput Bytes] is “256” bytes and [Output Bytes] is “256” bytes on this option, settings on the OMRON’s setting tool (Sysmac Studio) are as follows: RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 188: Ethercat Slave Module Installation

    IN: EtherCAT input / OUT: EtherCAT Output Input Data Size Max. 2048 bits (256 bytes) Output Data Size Max. 2048 bits (256 bytes) CANopen over EtherCAT (CoE) Device Profile PDO (Process Data Object) SDO (Service Data Object) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 189 Booting error detected E.g. due to firmware download failure. Link/Activity LED State Indication Description No link Link not sensed (or no power) Green Link sensed, no Link sensed, no traffic detected activity Green, flickering Link sensed, activity Link sensed, traffic detected RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 190 Configure switch configuration Configuration of an EtherCAT module is not necessary. All settings such as communication configuration for EtherCAT are done by the EPSON RC+ 7.0. Wiring Wiring of an EtherCAT slave board uses RJ45 connectors. Make sure to use STP-type 100BASE-TX cables.
  • Page 191 (1) Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. (2) Select [Inputs / Outputs]-[Fieldbus Slave]-[General]. (3) Change the settings of [Input Bytes] and [Output Bytes]. In this example, both of them are changed to 20 Bytes. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 192 In this example, Input byte is 20 bytes (160 bits) and “512-671” is displayed in “Inputs”. Also, Output byte is 20 bytes (160 bits) and “512-671” is displayed in “Outputs”. (9) Click <Close>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 193 Control of I/O data with the EtherCAT master is possible. Electronic Information File (ESI file) An ESI (EtherCAT Slave Information) file is supplied for EtherCAT slave module network configuration. The file is located in the following folder where the EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherCAT EPSN_TSERIES_ECT_V2.3.xml...
  • Page 194 When “256” bytes is set for [Output Bytes], select two of “TxPDO(128byte/256byte)” (Example) When [Inoput Bytes] is “256” bytes and [Output Bytes] is “256” bytes on this option, settings on the OMRON’s setting tool (Sysmac Studio) are as follows: RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 195: Operation

    Response times for Fieldbus I/O varies and depends on several factors, including baud  rate, scan rate, number of tasks, communication error, etc. EPSON RC+ does not guarantee the real-time response for the fieldbus I/O and message inputs. When the fastest and most consistent response times are required, please use EPSON Standard digital I/O, which incorporates interrupt driven inputs and outputs.
  • Page 196: Using Fbusio_sendmsg

    ' Send message to Profibus device Byte recvData(10) Integer i ' Service 56 - read all inputs ' sendBytes = 0 FbusIO_SendMsg 1, 1, 56, 0, recvData() For i = 0 To UBound(recvData) Print recvData(i) Next i RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 197: Explicit Message Connection (for Devicenet, Ethernet/ip)

    161 (A1h) 01 (01h) 16 (10h) Output acquisition 161 (A1h) 01 (01h) 14 (0Eh) Command response It can acquire up to 32 bytes* input/output data. * It depends on the input/output size setting. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 198: Remote Control Input And Output Setting

    (5) Click <Apply> to save the settings. Then, click <Close>. To enable the remote control, refer to EPSON RC+ 7.0 User’s Guide 12. Remote Control. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 199 Not used ExtCmdSet Not used ExtRespGet Not used ExtCmdReset Not used ExtCmd_0-15 Not used ExtCmd_16-31 Not used ExtCmd_32-47 Not used ExtCmd_48-63 Not used ExtCmd_64-79 Not used ExtCmd_80-95 Not used ExtCmd_96-111 Not used ExtCmd_112-127 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 200 6159 ErrorCode2 6160 ErrorCode4 6161 ErrorCode8 6162 ErrorCode16 6163 ErrorCode32 6164 ErrorCode64 6165 ErrorCode128 6166 ErrorCode256 6167 ErrorCode512 6168 ErrorCode1024 6169 ErrorCode2048 6170 ErrorCode4096 6171 ErrorCode8192 6172 InsideBox1 Not used Not used InsideBox2 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 201 Not used ExtRespSet Not used ExtCmdResult Not used ExtError Not used ExtResp_0-15 Not used ExtResp_16-31 Not used ExtResp_32-47 Not used ExtResp_48-63 Not used ExtResp_64-79 Not used ExtResp_80-95 Not used ExtResp_96-111 Not used ExtResp_112-127 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 202 Not used ExtCmdSet Not used ExtRespGet Not used ExtCmdReset Not used ExtCmd_0-15 Not used ExtCmd_16-31 Not used ExtCmd_32-47 Not used ExtCmd_48-63 Not used ExtCmd_64-79 Not used ExtCmd_80-95 Not used ExtCmd_96-111 Not used ExtCmd_112-127 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 203 Not used CurrProg16 Not used CurrProg32 AutoMode TeachMode EnableOn Not used ErrorCode1 ErrorCode2 ErrorCode4 ErrorCode8 ErrorCode16 ErrorCode32 ErrorCode64 ErrorCode128 ErrorCode256 ErrorCode512 ErrorCode1024 ErrorCode2048 ErrorCode4096 ErrorCode8192 Not used InsideBox1 Not used InsideBox2 Not used InsideBox3 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 204 Not used ExtRespSet Not used ExtCmdResult Not used ExtError Not used ExtResp_0-15 Not used ExtResp_16-31 Not used ExtResp_32-47 Not used ExtResp_48-63 Not used ExtResp_64-79 Not used ExtResp_80-95 Not used ExtResp_96-111 Not used ExtResp_112-127 RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 205: Troubleshooting

    DeviceNet network. For details of NetMeter, see Woodhead’s Web site (http://www.mysst.com/diagnostics/NetMeter.asp). 4.1.1 Examining a Problem 4.1.1.1 Scanner Board Diagnostic LEDs The DeviceNet master board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure. PCU-DVNIO 4-pin Terminal...
  • Page 206 Resistor Start the examination from this Slave block when the error occurred here. A communication time out error occurred. (5) Error Occurrence Condition  Immediate occurrence (high reproducibility)  Rare occurrence (low reproducibility) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 207: Problems And Countermeasures

    Configuration error - Master unit configuration error Blinking Refer to the respective device manuals. When EPSON RC+ was configured as a master: [Refer to the section 4.1.2.4 Master: Configuration Error.] - Slave disconnected from the network (Remote I/O communication error)
  • Page 208 MS: Red Blinking Configuration Error MS: OFF Master: See 4.1.2.5. NS: Green Blinking Absent Slave Master: MS: OFF See 4.1.2.6. Uninitialized Network NS: OFF MS: Red ON Broken Master Unit Other Replace the Unit. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 209 Absent Slave LED Condition Light OFF Light OFF ♦ Process Flowchart Check  No Problem Is power supplied to slaves? Supply power. Is MS LED light ON? Replace the unit. Normal communication? Finish See other errors. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 210 Red Light Blinking (Communication error detection) (2) Absent Slave LED Condition Green Light ON Red Light ON (Busoff detection) (3) Absent Slave LED Condition Green Light ON Light OFF (Slave not added to the network) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 211 The unit is found. Divide the network and find the trouble unit. Replace the unit. The unit is not found. Normal Communication?  Analyze the network with NetMeter.  Consult the DeviceNet manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 212 → Verify whether the problem is fixed.  No cause is Identify the trouble point by identified. dividing the network. → For details, refer to the section 4.1.3.4 Broken Unit Examination. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 213 Master Unit LED Error Description Green Red Light Busoff detection Communication stopped due to critical Light ON error. Duplicate MAC ID The MAC ID configuration was duplicated. (This error occurs only during unit start-up) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 214 The unit is found. Divide the network and find the trouble unit. Replace the unit. The unit is not found. Normal Communication?  Analyze the network with NetMeter.  Consult the DeviceNet manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 215 → Verify whether the problem is fixed.  No cause is Identify the trouble point by identified. dividing the network. → For details, refer to the section 4.1.3.4 Broken Unit Examination. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 216 Problem exists. (Fix it.) Check that power is supplied to all slaves.  No Problem No problem Problem exists. (Fix it.) Check for master unit configuration.  No Problem No problem Finish Replace the master unit. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 217 (2) Check that the configuration data were written in flash.  For details, refer to the section 4.1.3.6 EPSON RC+ Master Configuration. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 218 - Slave disconnected from the network Light Matter Slave error (Remote I/O communication error) Blinking detection - Slave not added to the network (Scan list collation error) - Duplicate MAC ID: The MAC ID configuration was duplicated. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 219 Divide the network and The unit is found. find the trouble unit. Replace the unit. The unit is not found. Normal Communication?  Analyze the network with NetMeter.  Consult the DeviceNet manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 220 → Verify whether the problem is fixed.  No cause is Identify the trouble point by dividing identified. the network. → For details, refer to the section 4.1.3.4 Broken Unit Examination. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 221 Problem exists. (Fix it.) Check that power is supplied to all slaves.  No Problem No problem Problem exists. (Fix it.)  No Problem Check for master unit configuration. No problem Finish Replace the master unit. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 222 (2) Check that the configuration data were written in flash.  For details, refer to the section 4.1.3.6 EPSON RC+ Master Configuration. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 223 Problem exists. (Fix it.)  No Problem Check that power is supplied to all slaves. No problem Problem exists. (Fix it.) Check for master unit configuration.  No Problem No problem Finish Replace the master unit. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 224 (2) Check that the configuration data were written in flash.  For details, refer to the section 4.1.3.6 EPSON RC+ Master Configuration. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 225: Procedures For Examining Possible Causes

    (The resistance at the point where the terminating resistor is connected is 120 Ω.) - Measure resistance at branch taps of all units. - The trouble point is where resistance changes from 120 Ω. - After finding the trouble point, verify the connector and cable conditions. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 226 (1) Three or more connectors and Short circuit terminating resistors branch taps with between signal (2) Wrong terminating tester. wires resistors, etc. Other Find the trouble point. (1) Unconnected or loose connector (2) Cable disconnection, etc. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 227 Female Male Male Female Thin cable Thin cable Cable with Female micro-size shielded Cable with Male connector (at one micro-size shielded end or both ends) connector (at one end or both ends) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 228 CAN H CAN H Shield (S) Shield (S) DeviceNet cable CAN L CAN L V+ V- S Disconnect here. V+ V- FG Ground 100 Ω or less. Communications Power Supply 24 V DC RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 229 During site inspection, bypass the wire that is possibly affected by induced noise with other cables and then lay the cables. Establish the communication under no induced noise condition and verify whether an error occurs. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 230 When sharing the communications power supply with I/O devices, provide power sources separately. Separating power source prevents noise caused by I/O device operations from affecting communication. Communications Power Supply Tap Power Supply 24V Disconnect I/O devices from the communications power supply. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 231 Connect the terminating resistor to the branch taps one by one to specify which device is the Master limit of the normal communications. Terminating Resistor Branch Tap Branch Tap Slave Slave Slave Slave Communications Power Supply Terminating Resistor RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 232 Do not share the communications power supply with I/O devices. * * Noise due to load on/off may affect DeviceNet communications via the communications power supply. (The noise causes remote I/O communication error, Busoff detection, and broken unit.) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 233 4. Troubleshooting (DeviceNet) 4.1.3.6 EPSON RC+ Master Configuration For details of EPSON RC+ master configuration, refer to the section 2.1.3 DeviceNet Master Board Installation. The following section describes the procedure for verifying the scanner board condition with applicomIO Console application.
  • Page 234 When the load exceeds 60%, the DeviceNet network communication will be unstable. (For example, more communication errors) For the procedure for master configuration, refer to respective master device manuals. For EPSON RC+ master configuration, refer to the section 2.1.3 DeviceNet Master Board Installation. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 235 "Bus Off". Check the network wiring and Baud Rate. Device not configured. Define the device configuration with the applicomIO® Console and re-initiate the initialization of the applicomIO® product by running the PcInitIO RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 236 Port. Not enough applicomIO® interface memory. Driver cannot be accessed. Indicates that applicomIO® solution is already running. Indicates that the local input buffer was not updated beforehand by the function IO_RefreshInput. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 237 The input and output statuses of the selected device are shown in the right side of the window. If you want to change output data, click the byte number you want to change in [Output Mapping]. Then, enter a value in [Selected Output Value:]-[Write] and click the <Write> button. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 238: Profibus Dp Troubleshooting

    Flat-blade screwdriver Tester 4.2.1 Examining a Problem 4.2.1.1 Scanner Board Diagnostic LEDs The PROFIBUS DP board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure. PCU-DPIO 4-pin Terminal Jumper for Board Address Setting Watchdog Port (Do not use this port.)
  • Page 239 As a first step, check the current condition of the network. There are different specifications of status display LED on a device in the PROFIBUS DP standard. This section explains how to check the network status assuming that EPSON RC+ is configured as a master or slave.
  • Page 240: Problems And Countermeasures

    - Master unit power error - Master unit configuration error Physical error [Refer to the section 4.2.2.4 Master: Light ON Matter Configuration Error.] - Nonstandard wiring - Signal wire connection failure - Signal wire short circuit RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 241 BF: Red ON 4.2.2.1.4. Physical Error Other Master: BF: OFF 4.2.2.2. Data Link Error ST: Red ON Master: BF: OFF Uninitialized Network 4.2.2.3. ST: OFF Master: BF: Red ON Physical Error 4.2.2.4. Other RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 242 - No or too many terminating resistors - Noise intrusion Master/Slave: Communication Error Master LED Condition Light OFF Red Light Blinking Absent Slave LED Condition Light OFF Green Light Blinking (Communication error) Light OFF Red Light Blinking RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 243 Does an error occur immediately? Immediately The unit is found. Divide the network and find the trouble unit. Replace the unit. The unit is not found. Normal Communication? Consult the PROFIBUS manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 244 → Verify whether the problem is fixed.  No cause is Identify the trouble point by identified. dividing the network. → For details, refer to the section 4.2.3.4 Broken Unit Examination. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 245 Does an error occur immediately? Immediately The unit is found. Divide the network and find the trouble unit. Replace the unit. The unit is not found. Normal Communication? Consult the PROFIBUS manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 246 → Verify whether the problem is fixed.  No cause is Identify the trouble point by identified. dividing the network. → For details, refer to the section 4.2.3.4 Broken Unit Examination. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 247 See 4.2.3.1 and 4.2.3.2. No problem The problem is fixed. Replace moving cable.  No Change (Replace deteriorated cable). No change Replace the unit.  No Normal Communication? Consult the PROFIBUS manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 248  For details, refer to the section 4.2.3.2 Loose Connector and Signal Wire.  Broken unit Replace the trouble unit with a Replace the unit with a new new one. one. → Verify whether the problem is fixed. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 249 →It should be within the range of sufficient voltage for device operation.  Broken unit Replace the trouble unit with a Replace the unit with a new new one. one. →Verify whether the problem is fixed. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 250 Does an error occur immediately? Immediately The unit is found. Divide the network and find the trouble unit. Replace the unit. The unit is not found. Normal Communication? Consult the PROFIBUS manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 251 →Verify whether the problem is fixed.  No cause is Identify the trouble point by identified. dividing the network. →For details, refer to the section 4.2.3.4 Broken Unit Examination. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 252  Broken master Replace the broken master unit Replace the master unit unit with a new one. with a new one. →Verify whether the problem is fixed. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 253 Does an error occur immediately? Immediately The unit is found. Divide the network and find the trouble unit. Replace the unit. The unit is not found. Normal Communication? Consult the PROFIBUS manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 254 →Verify whether the problem is fixed.  No cause is Identify the trouble point by identified. dividing the network. → For details, refer to the section 4.2.3.4 Broken Unit Examination. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 255: Procedures For Examining Possible Causes

    (The resistance at the point where the terminating resistor is connected is 220 Ω.) - Measure resistance at branch taps of all units. - The trouble point is where resistance changes from 220 Ω. - After finding the trouble point, verify the connector and cable conditions. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 256 (1) Three or more resistance at Short circuit terminating resistors connectors between signal (2) Wrong terminating with tester. wires resistors, etc. Other Find the trouble point. (1) Unconnected or loose connector (2) Cable disconnection, etc. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 257 FG clamps. Secure the clamps to the Turn ON the terminating resistor intermediate plate of the board at the end of the network. with screws to ground the shield. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 258 During site inspection, bypass the wire that is possibly affected by induced noise with other cables and then lay the cables. Establish the communication under no induced noise condition and verify whether an error occurs. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 259 3. Check for communication on the block to specify the trouble point. Terminating Specify which station is the limit of Master Resistor ON the normal communications. Terminating Terminating Resistor ON Resistor ON Slave Slave Slave Slave Slave Separate slaves from the network. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 260 DGND (5) (3) Cable The cables should meet the PROFIBUS specifications. Item Property Impedance 135 to 165 Ω Capacity < 30 pf/m Loop resistance 110 Ω/km Wire diameter 0.64 mm Core cross-section > 0.34mm RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 261 4. Troubleshooting (PROFIBUS DP) 4.2.3.6 EPSON RC+ Master Configuration For details of EPSON RC+ master configuration, refer to the section 2.2.3 PROFIBUS- DP Master Board Installation. The following section describes the procedure for verifying the scanner board condition with the applicomIO Console application.
  • Page 262 You can check the conditions of the following errors on this dialog. Token Error Address Error Timeout Error Frame Error Network Cycle Bus Fault When an error occurs on the network, it is added to the corresponding error counter. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 263 The window changes as shown below. To check the device condition in detail, click <Diagnostic> in [Equipment information] in the right side of the window. If an error occurs, the information is displayed in red. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 264 If you want to change output data, click the bite number you want to change in [Output Mapping]. Then, enter a value in [Write] in the “Selected Output Value” and click <Write>. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 265: Ethernet/ip Troubleshooting

    2.6 EtherNet/IP Network Construction.) 4.3.1 Examining a Problem 4.3.1.1 Scanner Board Diagnostic LEDs The EtherNet/IP board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure. PCU-ETHIO 4-pin Terminal...
  • Page 266 Slave Slave Start the examination from this block when the error occurred here. A communication time out error occurred. (5) Error Occurrence Condition  Immediate occurrence (high reproducibility)  Rare occurrence (low reproducibility) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 267: Problems And Countermeasures

    MULTI-MSG ETH channel. All devices in the configuration are visualized by a LED corresponding to the applicomIO device number. The LED may be red or green depending on the device error status. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 268 IP Address of the primary DNS server. Secondary DNS Address IP address of the secondary DNS server. Host Name Host name of the applicomIO master on this channel. Domain name of the applicomIO master on this Domain Name channel. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 269 Number of bytes transmitted. Retries on time-out Number of retries on reception of a time-out. IP tab Packets received Number of packets received. Packets transmitted Number of packets transmitted. Errors Number of IP errors. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 270 Requests / s Number of requests per second. Useful bytes Number of useful data bytes. Useful bytes / s Number of useful data bytes per second. Number of requests in error. Requests in error RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 271 Number of connections created for this device. Connections Time-out errors Number of time-outs received for this device. Frame errors Number of frame errors for this device. Refusal errors Number of errors excluding time-out and frame errors. RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 272 Host Name : the IP address is obtained from the host name. (2) Carries out a resolution. (3) Status: Status of resolution carried out : No error : Response time-out exceeded : Negative reply from DNS server (SERVER FAILURE, etc.) RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 273 : Executes PING command in a loop Stop on Error : If Loop has been selected, stops if an error has occurred Status : Status of the PING request 0 :OK 33 : TIME-OUT 132 : Resolution error RC700 / RC90 Option Fieldbus I/O Rev.12...
  • Page 274: Maintenance Parts List

    CC-Link module R12NZ900TD − ✓ EtherNet/IP board R12NZ900TH − ✓ PROFINET board R12NZ900TG − ✓ EtherCAT board R12NZ900TX − ✓ Master Part Name Code DeviceNet board 2174734 PROFIBUS-DP board 2174735 EtherNet/IP board 2174736 RC700 / RC90 Option Fieldbus I/O Rev.12...

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