epson RC420 Manuals

Table of Contents

• • 7

    Table of Contents

• 11

  Setup & Operation

• 13

  Safety

  • 13

    Conventions
  • 14

    Safety Precautions
  • 17

    Safety Features
  • 19

    RC420 Rev

• 21

  Part Names and Functions

  • 21

    System Configuration
  • 21

    Standard Specifications
  • 23

    Controller
    • 23

      Front Panel
    • 27

      Rear Panel
    • 29

      Dimensions

• 31

  Installation

  • 31

    Environmental Requirements
  • 32

    Power Supply
    • 32

      Specifications
    • 33

      Power Plug
  • 33

    Cable Connection
    • 34

      Typical Cable Connection
    • 37

      Connecting the Manipulator to the Controller
  • 38

    Noise Countermeasures

• 39

  OPTIONAL DEVICE Connector

  • 40

    ATTEND (TEACH) Control Device
  • 41

    OPTIONAL DEVICE Dummy Plug
  • 42

    Pin Assignments

• 43

  EMERGENCY Connector

  • 43

    Safety Door Switch and Latch Release Switch
    • 43

      Safety Door Switch
    • 44

      Latch Release Switch
    • 44

      Checking Latch Release Switch Operation
  • 45

    Emergency Stop Switch
    • 45

      Checking Emergency Stop Switch Operation
  • 46

    STOP Box
    • 46

      Checking E. STOP Box Operation
  • 47

    Pin Assignments
  • 48

    Circuit Diagrams
    • 48

      Example 1: External Emergency Stop Switch
    • 48

      Typical Application
    • 49

      Example 2: External Safety Relay Typical Application

• 51

  STANDARD I/O Connector

  • 52

    Input Circuit
  • 54

    Output Circuit
  • 56

    Pin Assignments
    • 56

      STANDARD I/O Connector - Pin Assignments
    • 57

      STANDARD I/O Connector Optional Cable for USA Specification - Pin Assignments

• 59

  Expansion I/O Board - Optional

  • 59

    Expansion I/O Board
  • 60

    Protected Expansion I/O Board
    • 60

      Jumper Settings
    • 61

      Input Circuit
    • 63

      Output Circuit
  • 65

    Expansion I/O Board
    • 65

      Jumper Settings
    • 65

      Input Circuit
    • 66

      Output Circuit
  • 68

    Expansion I/O Board: Pin Assignments
    • 68

      Pin Assignments (NPN Type)
    • 70

      Pin Assignments (PNP Type)
  • 72

    Expansion I/O Connector
    • 72

      Pin Layout of Expansion I/O Connector
    • 72

      Expansion I/O Connector Cable
    • 73

      Cable - Pin Assignments

• 77

  I/O Remote Settings

  • 78

    I/O Signal Description
    • 78

      Remote Input Signals
    • 81

      Remote Output Signals
  • 82

    Timing Specifications
    • 82

      Design Notes for Remote Input Signals
    • 82

      Timing Diagram for Operation Execution Sequence
    • 83

      Timing Diagram for Program Execution Sequence
    • 84

      Timing Diagram for Safety Door Input Sequence
    • 84

      Timing Diagram for Emergency Stop Sequence
    • 85

      Timing Diagram for RECOVER Sequence

• 87

  RS-232C Settings

  • 87

    RS-232C Cable
    • 87

      Pin Assignments
    • 88

      Connection Example
  • 88

    Preparation for Communication

• 89

  UPS (Uninterruptible Power Supply)

  • 89

    Ups
  • 89

    Configuration of Power Supplies
  • 89

    Normal Shutdown of Robot System
  • 89

    Automatic Shutdown By UPS Service in Robot System
    • 90

      While Windows Is Being Booted Up
    • 90

      After Windows Is Booted Up
  • 91

    UPS Battery
    • 91

      Safety Precautions for Battery
    • 91

      Charging Battery
    • 91

      Life Cycle of Battery
    • 93

      Replacement of Battery
  • 94

    Setting Up Windows
    • 94

      Installing RC420 UPS Drivers
    • 106

      Basic Configuration of Windows
    • 108

      Setting Up the Automatic Shutdown at the Time of a Power Failure
    • 112

      UPS Setup Consideration

• 115

  Maintenance

• 117

  Safety Precautions On Maintenance

  • 117

    Safety Precautions
  • 118

    Lockout
  • 118

    Tagout

• 119

  Regular Maintenance Inspection

  • 119

    Schedule for Maintenance Inspection
  • 119

    Inspection Point
    • 120

      Inspection While the Controller Is Turned OFF
    • 120

      Inspection While the Controller Is Turned ON
  • 120

    Cleaning the Fan Filter
  • 120

    Replacing a Lithium Battery On the CPU Board
  • 122

    Backup of Data

• 127

  Controller Internal Layout

• 129

  Pin Assignments for the System Connectors

  • 129

    M/C Power Cable
  • 130

    M/C Signal Cable

• 131

  Switching Power Supply Module

  • 131

    Layout and Functions
  • 131

    Inspection
  • 132

    Replacement
    • 132

      Replacing Switching Power Supply Module 1
    • 133

      Replacing Switching Power Supply Module 2

• 135

  Motor Driver Module

  • 135

    Layout and Functions
  • 136

    Replacing a Motor Driver Module

• 139

  DPB (Drive Power Board)

  • 139

    Layout and Functions
  • 140

    Adjusting Encoder Voltage

• 141

  DMB (Drive Main Board)

  • 141

    Layout and Functions
  • 142

    Replacing DMB

• 145

  Regeneration Module

  • 145

    Layout and Functions
  • 145

    Replacing a Regeneration Module

• 147

  Replacing Maintenance Parts

  • 147

    Optional Board
  • 147

    CPU Board
  • 149

    Hdd
  • 150

    Fan Filter

• 151

  Verifying Robot System Operation

• 153

  Recovering the HDD

  • 154

    Recovering Windows
    • 154

      Recovery Procedure
    • 154

      Windows Recovery (With "Easyrestore" License Label)
    • 157

      Windows Recovery (Without "Easyrestore" License Label)
  • 161

    Configuring Windows
  • 161

    Setting Up EPSON RC+ (Using the Network)
    • 161

      Necessary Items
    • 161

      Sharing Configuration
    • 163

      Network Configuration
    • 167

      Starting EPSON RC+ Setup Program
    • 167

      Installing EPSON RC
    • 167

      Reserving Address Resources of EPSON RC+ Options
  • 169

    Setting Up EPSON RC
    • 169

      (Using the CD-R/RW Drive with USB)
    • 169

      Necessary Items
    • 169

      Starting EPSON RC+ Setup Program
    • 169

      Installing EPSON RC
    • 169

      Reserving Address Resources of EPSON RC+ Options

• 171

  Maintenance Parts List