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Epson RC700 Manual

Pg motion system.
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Manual - 316 pages
Manual - 274 pages

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Robot Controller
RC700 / RC90 Option
PG Motion System
Rev.2
EM132C2449F

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Table of Contents

   Also See for Epson RC700

   Related Manuals for Epson RC700

   Summary of Contents for Epson RC700

  • Page 1 Robot Controller RC700 / RC90 Option PG Motion System Rev.2 EM132C2449F...
  • Page 3 Robot Controller RC700 / RC90 Option PG Motion System Rev.2 Copyright  2012-2013 SEIKO EPSON CORPORATION. All rights reserved. RC700 / RC90 Option PG Motion System Rev.2...
  • Page 4 3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. RC700 / RC90 Option PG Motion System Rev.2...
  • Page 5 - Your controller model and its serial number - Your manipulator model and its serial number - Software and its version in your robot system - A description of the problem SERVICE CENTER RC700 / RC90 Option PG Motion System Rev.2...
  • Page 6 Dongcheng District, Beijing, China, 100005 : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1120 Taiwan EPSON Taiwan Technology & Trading Ltd. Factory Automation Division 14F, No.7, Song Ren Road, Taipei 110 Taiwan, ROC : +886-(0)-2-8786-6688 : +886-(0)-2-8786-6677 RC700 / RC90 Option PG Motion System Rev.2...
  • Page 7 Marketing Team (Robot Business) 11F Milim Tower, 825-22 Yeoksam-dong, Gangnam-gu, Seoul, 135-934 Korea : +82-(0)-2-3420-6692 : +82-(0)-2-558-4271 Japan EPSON SALES JAPAN CORPORATION Factory Automation Systems Department Nishi-Shinjuku Mitsui Bldg.6-24-1 Nishishinjuku.Shinjuku-ku.Tokyo.160-8324 JAPAN : +81-(0)3-5321-4161 RC700 / RC90 Option PG Motion System Rev.2...
  • Page 8 The validity of the data is not completely checked or adjusted. If improper settings are used, the robot may move unexpectedly. The unexpected movement of the robot is extremely hazardous and may cause damage to the robot and/or peripheral equipment. RC700 / RC90 Option PG Motion System Rev.2...
  • Page 9 Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.0.2 or later. NOTE  This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without the label. NOTE  Manual PDF for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2...
  • Page 10 RC700 / RC90 Option PG Motion System Rev.2 viii...
  • Page 11: Table Of Contents

    2.5 Safety Features ....................19 2.5.1 Typical Application of Emergency Stop Circuit ........20 3. Software 3.1 Creating PG Robots in EPSON RC+ ............... 21 3.2 PG Robot Configuration ................... 23 3.2.1 PG Robot Parameters Overview ............23 3.2.2 PG Parameters ..................24 3.2.3 PG Parameters joint ................
  • Page 12 3.3.1 Overview of [Robot Manager] .............. 32 3.3.2 [Range] ....................33 3.3.3 [Home Config] ..................33 3.3.4 [Mcal Order] ..................34 3.4 Using PG Robots in EPSON RC+ ..............35 3.4.1 PG Cartesian Robots ................35 3.4.2 PG Joint Robots ................... 35 3.4.3 Tuning ....................35 3.4.4 Motion Commands ................
  • Page 13: Getting Started

    The PG Motion System supports up to 4 PG boards for RC700 and 2 PG boards for RC90. Each board has four channels, which allows a total of sixteen joints for RC700 and eight joints for RC90.
  • Page 14: How To Setup And Use The System

    1.3.2 Software Setup Overview Refer to Chapter 3, Software for the following instructions: (1) Create one or more PG robots in the EPSON RC+ system configuration. (2) Test each PG robot and verify that all safety features are operating properly.
  • Page 15: Hardware

    Description Board Name H756 Compatible Controller RC700 / RC90 Expansion Capability RC700: 4 boards maximum / RC90: 2 boards maximum Control Axes 4 axes per board Target Motor Either servo motors or stepper motors can be used. Output Pulse Rate 0.1 pps to 6.5 Mpps...
  • Page 16 5 V ±5 % 1.0 A (max.) 24 V ±2 V 200 mA (max.) (from the external power source) PG Robot Limitations Refer to the section 3.4 Using PG robots in EPSON RC+ RC700 / RC90 option PG motion system Rev.2...
  • Page 17: Part Names And Functions

    2. Hardware 2.2 Part Names and Functions 2.2.1 Component Names & Locations Rotary switch : S1 DIP Switch : S2, S3 : X, Y Jumpers : JP1 Connectors : CN1, CN2, CN3 RC700 / RC90 option PG motion system Rev.2...
  • Page 18: Dip Switch Settings

    If you use the PG board for the conveyor tracking, use another address for the PG board of the PG motion system. For example, if the PG board 1 is used for the conveyor tracking, then use the PG board 2 for the PG motion system. RC700 / RC90 option PG motion system Rev.2...
  • Page 19: Jumper Settings

    Remove the open slot panel at the front of the Controller. Install the PG board and secure it with screws. For details, refer to the instruction sheet attached to the board. Once the board is installed, refer to the section 3.1 Creating PG Robots in EPSON RC+ for software installation and settings.
  • Page 20: Internal Circuitry

    The signal is OFF when controller is launched. It turns OFF automatically when any one of the joints within a manipulator indicates either a servo error or limit switch related errors. RC700 / RC90 option PG motion system Rev.2...
  • Page 21 GND. In this case, SPEL does not check that the servo drive's positioning is completed. Therefore, after the operation command is executed, use the time delay necessary for positioning to be complete in your application. RC700 / RC90 option PG motion system Rev.2...
  • Page 22: Input Circuit

    Connect to Line driver RS422 Conforming +ZORG 220 Ω 26C31 -ZORG 26C32 equivalent equivalent Board Drive This terminal must be connected when an Encoder Z Phase signal is used as the origin signal. RC700 / RC90 option PG motion system Rev.2...
  • Page 23: Output Circuit

    When the servo driver counter reset input is +24V interface, refer to the connection example below. EXTV + DRST COM 1.65kΩ DRST Output Current Maximum External power 50 mA 24 V supply (Vce=under 2 V) EXTVGND Board Drive RC700 / RC90 option PG motion system Rev.2...
  • Page 24: Wiring

    AC motor (an induction motor, a 3-phase induction motor, etc.) requires an appropriate spark suppressor between lines. The closer the suppressor is to the motor, the more effective the noise suppression. RC700 / RC90 option PG motion system Rev.2...
  • Page 25: Connectors

    DX31A-100P (for AWG#28) Soldered type DX40-100P Connector for Wiring to the Cover DX30M-100-CV1 If you are using the optional cable, refer to section 2.4.4 PG Terminal Block Pin Outs later in this chapter. RC700 / RC90 option PG motion system Rev.2...
  • Page 26: Pg Board Connector Pin Outs

    In DEND1 Detection End signal for Axis #1 In DEND3 Detection End signal for Axis #3 − − − − Not used Not used − − − − Not used Not used RC700 / RC90 option PG motion system Rev.2...
  • Page 27 Permissible Working Range and pulse generation will be stopped. Therefore, you must connect to an external power source so that the limit signal(s) will remain ON when your system configuration does not use limit signals. RC700 / RC90 option PG motion system Rev.2...
  • Page 28: Pg Terminal Block Pin Outs

    Origin signal for Axis #1 49 (8) ORG2 Origin signal for Axis #2 External power supply for Input External power supply GND for 25 (14) EXTV 50 (64) EXTVGND circuit Input circuit RC700 / RC90 option PG motion system Rev.2...
  • Page 29 Origin signal for Axis #3 49 (58) ORG4 Origin signal for Axis #4 External power supply for Input External power supply GND for 25 (15) EXTV 50 (65) EXTVGND circuit Input circuit RC700 / RC90 option PG motion system Rev.2...
  • Page 30: Typical Applications

    Output Circuit - DRST. *2 : If the current limiting resistance of input circuit on the driver side is 150Ω or less, ensure more than 150Ω with the external resistor. External power source RC700 / RC90 option PG motion system Rev.2...
  • Page 31: Safety Features

    The function of this input is same as for a standard robot. For more Safety Features, refer to the Robot Controller manual or the Safety Chapter in the EPSON RC+ User’s Guide. RC700 / RC90 option PG motion system Rev.2...
  • Page 32: Typical Application Of Emergency Stop Circuit

    ■ Always take anti-surge measures for coils (electromagnetic contactors, relays, etc.) or contacts. If anti-surge measures are not taken, a reverse current may flow. The reverse current may cause damage to peripheral CAUTION equipment. RC700 / RC90 option PG motion system Rev.2...
  • Page 33: Software

    1 PG board for conveyor tracking, and then add a board for PG motion, that board will be #2. To create a PG robot in EPSON RC+, follow these steps: (1) Turn on the Controller and launch EPSON RC+.
  • Page 34 In case of the Joint type robot with more than 5 joints, select also “PG board B”. (5) Click the OK and reboot the controller. (6) After the controller is rebooted, a PG robot is added to EPSON RC+. RC700 / RC90 option PG motion system Rev.2...
  • Page 35: Pg Robot Configuration

    ■ Set PG robot parameters with extra caution. If parameters are set improperly, the robot may move unexpectedly. unexpected movement of the robot is extremely hazardous and may cause CAUTION damage to the robot and / or peripheral equipment. RC700 / RC90 option PG motion system Rev.2...
  • Page 36: Pg Parameters

    The value must be an integer in the range of 1 to 100. Mcal Speed This parameter sets the speed when MCAL is executed, specified by percentage of maximum speed. The value must be an integer in the range of 1 to 100. RC700 / RC90 option PG motion system Rev.2...
  • Page 37: Pg Parameters Joint

    Specify this parameter so that MCAL is completed within 120 seconds. If the calibration of each joint is not completed within 120 seconds during MCAL execution, then error 4083: MCAL did not complete in time will occur. 3.2.3 PG parameter Joint RC700 / RC90 option PG motion system Rev.2...
  • Page 38 The Calibration Type specifies the calibration method used to calibrate the mechanical origin. There are seven calibration types 0, 1, 2, 3, 4, 5 and 10. For details of each type, refer to 4. Calibration Types. RC700 / RC90 option PG motion system Rev.2...
  • Page 39 MCORDR command. When you click Default button in the Tool | Robot manager | Mcal Order, these values will be used. For the details, refer to 3.3.4 [Mcal Order]. RC700 / RC90 option PG motion system Rev.2...
  • Page 40 Set the relation of the direction of the motor rotation and the pulse values (coordinate values) in SPEL+. Select Same or Reverse from the drop-down list. Same As physical encoder values increase, SPEL+ pulse values increase. Reverse As physical encoder values increase, SPEL+ pulse values decrease. RC700 / RC90 option PG motion system Rev.2...
  • Page 41 Also, it can prevent the triangle drive in small distance motions. Z Joint Specify the joint designated as Z-joint (vertical operation joint) when the JUMP command is executed in SPEL+. For Cartesian robots, the Z joint is fixed at joint #3. RC700 / RC90 option PG motion system Rev.2...
  • Page 42: Backup And Restore Parameter Data

    (3) Select the desired PG robot from the list of Robot, and then select a PG parameter. (4) Click the <Save>button. (5) Browse to the desired location and enter the desired filename. (6) Click the <Save>button. RC700 / RC90 option PG motion system Rev.2...
  • Page 43 (3) Select the desired PG robot from the list of Robot, and then select a PG parameter. (4) Click the <Load>button. (5) Browse to the desired location and select the desired filename. (6) Click the <Open> button. The parameters are now loaded. RC700 / RC90 option PG motion system Rev.2...
  • Page 44: Robot Manger] Configuration

    This is used to control the robot motors and power, jog robots, teach points, and view/edit severeal parameters for the robot. For the details, refer to EPSON RC+ Users Guide: 5.11.1 [Robot Manager Command] (Tools Menu). This section describes an instruction for the PG robot parameter setting.
  • Page 45: Range]

    HORDR command. Click the <Default> button if you want to load the default values set in the section 3.2.3 PG parameter Joint. RC700 / RC90 option PG motion system Rev.2...
  • Page 46: Mcal Order]

    Step 1 through Step 4. In the illustrated example, the Joint #2 will be calibrated to the origin position after Joint #1 is calibrated and moved to the origin position. RC700 / RC90 option PG motion system Rev.2...
  • Page 47: Using Pg Robots In Epson Rc

    PG robots behave similar to standard robots. You use Robot Control Panel, Jog & Teach, Point Editor, etc. the same as you would with standard robots. Refer to the EPSON RC+ User's Guide for details on using the GUI and program development.
  • Page 48: Motion Commands

    PG robots are not directly supported in Dry Run. For PG robots to be used, the PG board hardware must exist on the system. If you enable Dry Run in EPSON RC+, the PG robots will continue to operate from the hardware.
  • Page 49: Pg Signal Status Display

    3.4.7 PG Signal Status Display Input and output status of the PG board can be displayed on the EPSON RC+ GUI. When the PG robot is selected, open the [I/O Monitor] of the EPSON RC and select [PG Status] tab.
  • Page 50: Calibration Types

    Longer Longer 4 or 5 Longest 4 or 5 Longest Shortest *1: A is highest accuracy followed by B and then C. *2: Complete the calibration of each joint within 120 seconds. RC700 / RC90 option PG motion system Rev.2...
  • Page 51 Pause for delay time as specified in Scan Delay on Calibration tab of the PG Robot Configuration dialog. Pause for delay time as specified in Jog Delay on Calibration tab of the PG Robot Configuration dialog. RC700 / RC90 option PG motion system Rev.2...
  • Page 52 Cal Type 10 NORG Signal width : 1 msec or over The interval between the NORG signal edge and ORG signal edge must be sufficient to enable the robot to stop by deceleration. RC700 / RC90 option PG motion system Rev.2...
  • Page 53 NOTE System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
  • Page 54 The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
  • Page 55 The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
  • Page 56 The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
  • Page 57 The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
  • Page 58 NORG ( ↑ ) is detected: NORG NORG ORG = HIGH (sensor: OFF) ORG = LOW (sensor: ON) when the NORG ( ↑ ) is detected. when the NORG ( ↑ ) is detected. RC700 / RC90 option PG motion system Rev.2...
  • Page 59 The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
  • Page 60 NORG ( ↑ ) detected: NORG NORG ORG = HIGH (sensor: OFF) ORG = LOW (sensor: ON) when the NORG ( ↑ ) is detected. when the NORG ( ↑ ) is detected. RC700 / RC90 option PG motion system Rev.2...
  • Page 61 The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
  • Page 62: Troubleshooting

    Check the wiring and correct if necessary. Encoder signal is incorrect between the drive and motor. The gain setting on the drive is not Reset the gain properly by referring to the appropriate for the load. drive’s manual. RC700 / RC90 option PG motion system Rev.2...
  • Page 63 Set the gain properly by referring to the appropriate for the load. drive’s manual. The drive is outputting the alarm signal. Find out the cause and cancel that situation by referring to the drive’s manual. RC700 / RC90 option PG motion system Rev.2...
  • Page 64 Connect the DEND input to GND to disable because the servo motor’s joint is wait for positioning. interfering with an obstacle. It is possible that the servo motor’s enforcing operation obstructs the positioning. RC700 / RC90 option PG motion system Rev.2...
  • Page 65 Solution The calibration of each joint was not Refer to the section completed within 120 seconds during 3.2.2 PG Parameters MCAL execution. 3.3.4 [Mcal Order] and check the settings of the Manipulator. RC700 / RC90 option PG motion system Rev.2...
  • Page 66: Maintenance Parts List

    PG (Pulse Generator) board R12N748011 PG board cable R12R500PLS004 Terminal block R12R500DIO005 PG board connector R12R500PLS005 Pulse Generating Kit R12N748041 PG (Pulse Generator) board Plug, Cover PG board cable Connector (2) Terminal block (2) RC700 / RC90 option PG motion system Rev.2...

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Rc90

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