Page 1 Robot Controller RC700 / RC90 Option Fieldbus I/O Rev.14 EM198C4088F...
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 Please notify us if you should find any errors in this manual or if you have any comments regarding its contents. MANUFACTURER CONTACT INFORMATION Contact information is described in “SUPPLIERS” in the first pages of the following manual: Robot System Safety and Installation Read this manual first RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 6 For T series, VT series Manipulator user only T series and VT series Manipulators are controller integrated manipulators. Read “Controller” and “Robot Controller” described in this manual as “T series Manipulator” “VT series Manipulator”. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 7  Ethernet/IP, PROFINET, and EtherCAT of this option are not available for Robot Controller RC90 (EPSON RC+ 5.0) without the label. Refer to the Robot Controller RC90 Setup & Operation 13.3 Fieldbus I/O Board. NOTE  Manual PDF for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2.
Page 8 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 9: Table Of Contents
2.1.2 DeviceNet Network Construction ........17 2.1.3 Installing DeviceNet Master Board manufactured by molex ...................25 2.1.4 Installing DeviceNet Board manufactured by Hilscher ...46 2.1.5 Installing DeviceNet Slave Board ........73 2.1.6 Installing DeviceNet Slave Module .........79 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 10 4.1.3 Procedures for Examining Possible Causes ....278 4.2 PROFIBUS DP Troubleshooting ..........291 4.2.1 Examining a Problem ........... 291 4.2.2 Problems and Countermeasures ......... 293 4.2.3 Procedures for Examining Possible Causes ....308 viii RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 11 Table of Contents 4.3 EtherNet/IP Troubleshooting ..........318 4.3.1 Examining a Problem ..........318 4.3.2 Problems and Countermeasures ......... 320 4.3.3 Tests and Diagnostics ..........320 5. Maintenance Parts List ........327 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 12 Table of Contents RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 13: Introduction
More flexible modification and expansion of a system because multiple devices are simply added to one Fieldbus without additional wiring. Slave devices can transmit self-diagnostics information. Master Devices Master Devices RS-232c RS-232c Fieldbus Sample Parallel Connection Sample Fieldbus Connection RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 14 1. Introduction The Fieldbus master function can be added to the PC with the EPSON RC+ 7.0 installed by installing the Fieldbus master board. Each type of Fieldbus supports the following boards. DeviceNet master board manufactured by molex PROFIBUS-DP master board manufactured by molex...
Page 15: Devicenet
Maintenance spare parts stored on site (factory, etc.) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard DeviceNet. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 16 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.14...
Page 17: General Specifications
(2 wires for signal, 2 wires for power supply, 1 shield wire) Communications Power Supply 24 V DC (supplied from a connector) Voltage * When thin cable is used for trunk line, the maximum network length is 100 m. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 18: 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.14...
Page 19: General Specifications
1200 m 19.2 kbps 1200 m 9.6 kbps 1200 m 126 (including master unit and repeater) Maximum Stations Data Length / Frame 244 bytes Cable 2-wire cable dedicated to PROFIBUS (2 wires for signal) RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 20: 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.14...
Page 21: General Specifications
All connections are conformed to EtherNet/IP communication protocol. Baud Rates 100 Mbps, 10 Mbps Maximum Nodes 128 (including master unit) Data Length / Frame 244 bytes Access Control Type CSMA/CD Cable Universal Ethernet cable RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 22: 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.14...
Page 23: General Specifications
Bus (EIA RS485 compliant) Type Transmission Format HDLC compliant 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.14...
Page 24: 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.14...
Page 25: 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.14...
Page 26: 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.14...
Page 27: General Specifications
EtherCAT Communication Specifications Item Specification Baud Rates (bps) 100 M (Full duplex) Network Topology Line, Tree, Star, Ring Communication Range Distance between nodes: within 100 m Maximum Nodes 65535 Cable STP cable Category 5 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 28: 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.14...
Page 29: 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.14...
Page 30 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.14...
Page 31 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.14...
Page 32 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 6 m or less. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 33 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.14...
Page 34 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.14...
Page 35 Specifications Special Tool AI 0.5-8WH For Thin Cable (power wire) AI 0.25-8YE For Thin Cable (signal wire) CRIMPFOX UD6 AI 2.5-8BU For Thick Cable (signal wire) AI 1-8RD For Thick Cable (signal wire) RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 36 Specific screwdrivers for DeviceNet connector screw are: 0.6 mm 3.5 mm OMRON : XW4Z-00C Phoenix Contact : SZF-1 0.6×3.5 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 37: Installing Devicenet Master Board Manufactured By Molex
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.14...
Page 38 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 39 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. The dialog box shown below appears. Select “Run setup.exe”.
Page 40 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.14...
Page 41 Specify the installation folder for the applicomIO Console application. The default specifies here: C:\Program Files(x86)\BradCommunications\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.14...
Page 42 12. The message prompting you to reboot your PC appears. Select <Yes> and reboot the PC. 13. Refer to the next section Installing a Board to install the DeviceNet master board manufactured by molex. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 43 WARNING Configure the board address jumper (JP1) on DeviceNet master board manufactured by molex. You can install one Fieldbus master board to the PC with the EPSON RC+ 7.0 installed. The board number should be “1”. Refer to the following table for JP1 configuration.
Page 44 When the applicomIO Console application shuts down, the dialog box below appears. Click <Yes>. Then, the following dialog box 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.14...
Page 45 (EDS file) that is necessary for the network setup. Select [Protocol]. Select the [Equipment Library] tab. Click <Add>. 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.14...
Page 46 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.14...
Page 47 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.14...
Page 48 2. Installation 15. Select a device you want to scan. (16) (15) 16. Click <Insert in Configuration>. 17. The following dialog box appears. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 49 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.14...
Page 50 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.14...
Page 51 2. Installation 18. Check the communication status with each slave devices. Click <Diagnostic>. 19. The [Diagnostic Board] dialog box appears. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 52 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.14...
Page 53 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.14...
Page 54 Now, the Fieldbus master board is ready to operate in the master mode. 22. Close the “applicomIO Console” application. 23. Refer to the next section EPSON RC+7.0 Configuration and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 55 EPSON RC+ 7.0. Select [Setup]-[Option Setting] and display the [Option] dialog box. Refer to the EPSON RC+ Users Guide: 23. Installing Controller Options and enable the Fieldbus Master option. The following message dialog box appears.
Page 56 12. Select [Fieldbus Master]-[General]. (13) (12) 13. Confirm that the following items 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.14...
Page 57 : 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.14...
Page 58: Installing Devicenet Board Manufactured By Hilscher
2. Installation 2.1.4 Installing DeviceNet Board manufactured by Hilscher Appearance PCI: CIFX 50-DN Rotary switch Status display LED (×2) DeviceNet port PCI Express: CIFX 50E-DN Rotary switch Status display LED (×2) DeviceNet port RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 59 DeviceNet Object (Class Code 0x03) Connection Object (Class Code 0x05) Acknowledge Handler Object (Class Code 0x06) 125 kBits/s, 250 kBit/s, Baud rates 500 kBit/s Auto baud rate detection is not supported Data transport layer CAN frames RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 60 The device may not be powered. Device is not on-line and/or no network power (OFF)  The device has not yet complete the Dup_MAC_ID test. The device is powered. The network power is missing. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 61 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. This is normally provided by a master device manufacturer.
Page 62 Installing Software Installing device driver Before adding DeviceNet board manufactured by Hilscher to the PC with the EPSON RC+ 7.0 installed, you must install the Hilscher SYCON.net application and drivers according to the type of the board you are using.
Page 63 5. The [Device Driver Setup] dialog box appears. Select the [I accept the terms in the License Agreement] check box. Click <Install>. 6. The [Windows Security] dialog box appears. Click <Install>. 7. When the dialog box switched, click <Install> again. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 64 2. Installation 8. The [Completed the cifX Device Driver (x64) 1.5.0.0 Setup Wizard] dialog box appears. Click <Finish>. Installing master application software 9. The [Communication Solutions] dialog box appears. Select “Install SYCON.net Configuration Software”. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 65 10. When Windows Security Alert appears, do not click <Cancel> and proceed to the next step. 11. The [User Account Control] dialog box appears. Click <Yes>. 12. The [Choose Setup Language] dialog box appears. Select “Englisch [USA]” and click <OK>. Now, start the installation. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 66 14. [InstallShield Wizard - Important Information] dialog box appears. Select <I read the information>. Click <Next>. 15. The [InstallShield Wizard - License Agreement] dialog box appears. Select <I accept the terms in the license agreement>. Click <Next>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 67 16. The [InstallShield Wizard - Customer Information] dialog box appears. Enter the User Name and Organization. Click <Next>. 17. The [InstallShield Wizard - Ready to Install the Program] dialog box appears. Click <Install>. Now, start the installation. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 68 1. Configure the rotary switch of the board address on DeviceNet board manufactured by Hilscher. You can install one Fieldbus master board to the PC with the EPSON RC+ 7.0 installed. The slot number should be “Not in use (0)”. Refer to the following table for configuration.
Page 69 Slave Output Bytes 20 bytes 5. Start up the PC. 6. Select the Start menu-[SYCON.net] and execute it. 7. Set a Confirm password of SYCON.net. Click <OK>. Be careful not to forget the Confirm password. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 70 2. Installation 8. SYCON.net starts up. Click [netDevice]-Device Catalog list on the right side-[CIFX DN/DNM]. Importing slave EDS files 9. Click [Network]-[Import Device Descriptions…]. The [Import Device Description] dialog box appears. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 71 2. Installation 10. Select EDS files provided by each device manufacturer. Click <Open>. 11. The following message appears. Click <Yes>. EDS files are imported. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 72 12. Click SYCON.net application software-[netDevice]-Device Catalog list on the right side-[DeviceNet]-[Master]-[CIFX DN/DNM]. 13. Drag & drop [CIFX DN/DNM] on the bold line on the left side of [netDevice]. 14. “CIFX_DX_DNM” icon indicating DeviceNet board manufactured by Hilscher is connected. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 73 15. Click SYCON.net application software-[netDevice]-Device Catalog list on the right side-[DeviceNet]-[Slave]-Slave device. In case of DeviceNet slave module: 16. Drag & drop the selected slave device on the bold line on the left side of [netDevice]. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 74 2. Installation 17. DeviceNet Slave is connected and the icon appears. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 75 Setting on master side 18. Right-click [netDevice]-<CIFX_DN_DNM> and click [Configuration…]. 19. The [Configuration]dialog box appears. Select [Settings]-[Device Assignment] tab. Select the installed [CIFX 50E-DN] checkbox and click <Apply>. 20. Select [Settings]-[Driver]-[Firmware Download]. Click <Browse…>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 76 2. Installation 21. Display [Firmware\CIFX] folder of Communication-Solutions DVD. Select [cifxdnm.nxf]. Click <Open>. 22. Confirm that [Name] is “DeviceNet Master for CIFX”. Click <Download>. 23. Click <Yes>. Start the installation of firmware. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 77 Select [MAC ID] and [Baud Rate] on the master side. Click <Apply>. 25. Select [Configuration]-[MAC ID Tables] tab. Enter [MAC ID] on the slave side. Click <OK>. 26. Close the [Configuration] dialog box. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 78 State Consumption Checked Consumption - Size Consumption - Connection Path User Defined Consumption Data Production Checked Production - Size Production - Connection Path User Defined Production Data 31. Close the [Configuration] dialog box. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 79 2. Installation Downloading to master board 32. Right-click [netDevice]-<CIFX_DN_DNM> icon. Select [Download]. By the above step, “Setting on master side” and “Setting on slave side” are downloaded to the DeviceNet master board. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 80 2. Installation Diagnosis 33. Right-click [netDevice]-<CIFX_DN_DNM> icon. Select [Diagnosis…]. 34. The [Diagnosis] dialog box appears. Select [Diagnosis]-[General Diagnosis]. Confirm that [Device status]-[Communication] turns to green. 35. Close [Diagnosis] dialog box. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 81 2. Installation 36. Select [File]-[Save]. 37. The [Save As] dialog box appears. Enter [File name] and click <Save>. The setting changes are saved. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 82 38. Right-click [netDevice]-<CIFX_DN_DNM> icon. Click [Additional Functions]-[Export]-[CSV…]. 39. Save the CSV file to the file. Exported CSV file is used in the next EPSON RC+7.0 Configuration. Now, the settings by SYCON.net are complete. Close SYCON.net. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 83 EPSON RC+ 7.0. (1) Select [Setup]-[Option Setting] and display the [Option] dialog box. (2) Refer to the EPSON RC+ Users Guide 23. Installing Controller Options and enable the Fieldbus Master option. (3) The following message dialog box appears.
Page 84 (8) Confirm that the configuration file (.csv) for RC+ is imported and click <OK>. (9) Confirm that the following items are displayed. Total Input Bytes Number of inputs the master controls (Bytes) Total Output Bytes : Number of outputs the master controls (Bytes) (10) Click <Apply>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 85: Installing Devicenet Slave Board
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.14...
Page 86 LED state represents the status of the fieldbus board. LED state 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.14...
Page 87 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.14...
Page 88 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 89 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 box appears. The Robot Controller automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 90 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.14...
Page 91: Installing Devicenet Slave Module
1 DeviceNet port Max. Input data size 2048 bits (256 bytes) Max. Output data size 2048 bits (256 bytes) * When Thin cable is used for trunk line, the maximum network length is 100 m. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 92 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.14...
Page 93 When the DeviceNet slave module is installed to the T/VT 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 94 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 box appears. T/VT series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 95 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.14...
Page 96: 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.14...
Page 97 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.14...
Page 98 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.14...
Page 99 The following figure illustrates the communication procedure for a multi-master configuration. Token-passing Procedure Master 1 Master 2 Master 3 Master-slave communication Slave Slave Slave Slave Slave Slave Slave RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 100 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.14...
Page 101: Installing Profibus-Dp Master Board
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.14...
Page 102 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 103 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 EPSON RC+ 7.0 installed. The following dialog box appears. Select “Run setup.exe”.
Page 104 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.14...
Page 105 Specify the installation folder for the applicomIO console application. The default specifies here: C:\Program Files(x86)\BradCommunications\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.14...
Page 106 12. The message prompting you to reboot your PC appears. Select <Yes> and reboot the PC. 13. Refer to the next section Installing a Board and install the PROFIBUS-DP master board manufactured by molex. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 107 Configure the board address dip switch (JP1) on PROFIBUS-DP master board manufactured by molex. You can install one Fieldbus master board to the PC with EPSON RC+ 7.0 installed. The board number should be “1”. Refer to the following table for JP1 configuration.
Page 108 When closing the applicomIO Console application, the following message box appears. Click <Yes>. The following dialog box 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.14...
Page 109 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 <Add>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 110 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.14...
Page 111 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.14...
Page 112 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. Select “Profibus, Master/Slave” and click <OK>. 16. Select [Protocol]-[Properties]-[Configuration] from the applicomIOR console menu. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 113 Station), and Highest Station Address in the network. When the PROFIBUS-DP master setting is completed, click <OK>. 18. Select the [Network Detection] tab. (19) (18) 19. Click the <Read Network Configuration>. 20. The following message box appears. Click <Yes>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 114 Station), and Highest Station Address in the network. Click <OK>. 22. The [Network Detection] dialog box appears and starts scanning the device information on the Fieldbus. 23. The list of detected devices is displayed in the [Network Detection] panel. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 115 24. Select a device you want to register as slave. (25) (24) 25. Click <Insert in Configuration>. 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.14...
Page 116 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.14...
Page 117 2. Installation 29. Check the communication status with each slave devices. Click <Diagnostic>. The [Diagnostic Board] dialog box is displayed. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 118 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.14...
Page 119  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 120 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.14...
Page 121 To use the Fieldbus master board, the Robot system option setting and Fieldbus master setting should be enabled on EPSON RC+ 7.0. Select [Setup]-[Option Setting] and display the [Option] dialog box. Refer to EPSON RC+ Users Guide: 23. Installing Controller Options and enable the Fieldbus Master option. The following message dialog box appears.
Page 122 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.14...
Page 123 : 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.14...
Page 124: Installing Profibus-Dp Slave Board
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.14...
Page 125 Data unchangeable 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.14...
Page 126 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.14...
Page 127 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 128 In this example, both of them are changed to “20” Bytes. The sum of input and output data sizes is restricted as follows: For Byte format : 372 bytes For Word format : 208 words Click <Apply>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 129 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.14...
Page 130 Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the applicomIO console application. 16 Bytes Out Output : 20 Bytes 4 Bytes Out 16 Bytes In Input : 20 Bytes 4 Bytes In RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 131 16 Word In Input: 32Bytes 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 EPSON RC+7.0 is installed. \EpsonRC70\Fieldbus\Profibus For Robot Controller RC700 EPSN0E06.gsd For Robot Controller RC90/90-B EPSB0D5E.gsd...
Page 132: Installing Profibus-Dp Slave Module
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 1952 bits (244 bytes) * Max. Output Data Size 1952 bits (244 bytes) * RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 133 +5 V Bus Output +5 V termination power (isolated, short-circuit protected) A Line Negative RxD/TxD, RS485 level Internally connected to the Anybus protective earth via Housing Cable Shield cable shield filters according to the PROFIBUS standard. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 134 Confirmation with EPSON RC+ 7.0 When a PROFIBUS-DP slave module is installed to the T/VT 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 135 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.14...
Page 136 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.14...
Page 137 Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the applicomIO console application. 16 Bytes Out Output : 20 Bytes 4 Bytes Out 16 Bytes In Input : 20 Bytes 4 Bytes In RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 138 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 EPSON RC+7.0 is installed. \EpsonRC70\Fieldbus\Profibus For T/VT series Manipulator: EPSN0FED.gsd...
Page 139: Ethernet/Ip
When installing the EtherNet/IP master board manufactured by molex, refer to 2.3.3 Installing EtherNet/IP Master Board manufactured by molex. When installing the EtherNet/IP slave board, refer to 2.3.5 Installing EtherNet/IP Slave Board. Operate the EtherNet/IP network. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 140: 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.14...
Page 141: Installing Ethernet/Ip Master Board Manufactured By Molex
Cyclic, Change of State Explicit message connection EDS support 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.14...
Page 142 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 143 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 EPSON RC+ 7.0 installed. The dialog box shown below appears. Select “Run setup.exe”.
Page 144 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.14...
Page 145 Specify the installation folder for the applicomIO Console application. The default specifies here: C:\Program Files(x86)\BradCommunications\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.14...
Page 146 12. The message prompting you to reboot your PC appears. Select <Yes> and reboot the PC. 13. Refer to the next section Installing a Board to install the EtherNet/IP master board manufactured by molex. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 147 Configure the board address jumper (JP1) on EtherNet/IP master board manufactured by molex. You can install one Fieldbus master board to the PC with EPSON RC+ 7.0 installed. The board number should be “1”. Refer to the following table for JP1 configuration.
Page 148 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 [Channel Properties] dialog box appears. Select [Protocol]-[EtherNet/IP] and click <OK>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 149 Click <Yes>. 10-2 Then, the following dialog box 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.14...
Page 150 EtherNet/IP network. 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 <Add>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 151 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.14...
Page 152 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.14...
Page 153 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.14...
Page 154 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”. It is required when creating a SPEL+ program. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 155 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.14...
Page 156 2. Installation 26. Check the communication status with each slave devices. Click <Diagnostic>. 27. The [Diagnostic Board] dialog box is displayed. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 157 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.14...
Page 158 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.14...
Page 159 Now, the Fieldbus master board is ready to operate in the master mode. 30. Close the “applicomIO Console” application. 31. Refer to the next section EPSON RC+7.0 Configuration and continue the step. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 160 To use the Fieldbus master board, the Robot system option setting and Fieldbus master setting should be enabled on EPSON RC+ 7.0. Select [Setup]-[Option Setting] and display the [Option] dialog box. Refer to EPSON RC+ User’s Guide 23. Installing Controller Options and enable the Fieldbus Master option. The following dialog box appears.
Page 161 12. Select [Fieldbus Master]-[General]. (13) (12) 13. Confirm that the following items 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.14...
Page 162 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.14...
Page 163 Class 0x000000F5 Instance Attribute Service Name Set_Attribute_Single Data 0000 (4) Click <Send to Device>. (5) Confirm that the “CIP Status: 0x0. Success” is displayed on the [Status]. Now, changing the setting is complete. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 164: Installing Ethernet/Ip Board Manufactured By Hilscher152
2. Installation 2.3.4 Installing EtherNet/IP Board manufactured by Hilscher Appearance Rotary Switch Status display LED (×3) Ethernet Interface (Channel 0) Ethernet Interface (Channel 1) RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 165 2. Installation PCI: CIFX 50-RE PCI Express: CIFX 50E-RE RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 166 Supported Baud rates (bps) 10M, 100 M Data transport layer Ethernet II, IEEE 802.3 Switch function Integrated CIP Sync Services are not implemented, Limitations TAGs are not supported. Reference to firmware/stack version V2.9 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 167 The device has detected that its IP address is already (red)  in use. Not powered, no IP address: The device does not have an IP address. (OFF)  (Or is powered OFF). RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 168 The indicator turns ON and OFF with a frequency of approx. 10Hz to indicate high (load dependent) Ethernet activity. Turn ON for approx. 50 ms, followed turn OFF for 50 ms. The indicator turns ON and OFF in irregular intervals to indicate low Ethernet activity. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 169 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. This is normally provided by a master device manufacturer.
Page 170 Installing device driver Before adding EtherNet/IP board manufactured by Hilscher to the PC with the EPSON RC+ 7.0 installed, you must install the Hilscher SYCON.net application and drivers according to the type of the board you are using. 1. Insert Communication-Solutions DVD into the PC with EPSON RC+7.0 installed.
Page 171 5. The [Device Driver Setup] dialog box appears. Select the [I accept the terms in the License Agreement] check box. Click <Install>. 6. The [Windows Security] dialog box appears. Click <Install>. 7. When the dialog box switched, click <Install> again. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 172 Click <Finish>. Installing master application software 9. The [Communication Solutions] dialog box appears. Select “Install SYCON.net Configuration Software”. 10. When Windows Security Alert appears, do not click <Cancel> and proceed to the next step. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 173 2. Installation 11. The [User Account Control] dialog box appears. Click <Yes>. 12. The [Choose Setup Language] dialog box appears. Select “Englisch [USA]” and click <OK>. Now, start the installation. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 174 14. [InstallShield Wizard - Important Information] dialog box appears. Select <I read the information>. Click <Next>. 15. The [InstallShield Wizard - License Agreement] dialog box appears. Select <I accept the terms in the license agreement>. Click <Next>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 175 16. The [InstallShield Wizard - Customer Information] dialog box appears. Enter the User Name and Organization. Click <Next>. 17. The [InstallShield Wizard - Ready to Install the Program] dialog box appears. Click <Install>. Now, start the installation. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 176 1. Configure the rotary switch of the board address on EtherNet/IP board manufactured by Hilscher. You can install one Fieldbus master board to the PC with the EPSON RC+ 7.0 installed. The slot number should be “Not in use (0)”. Refer to the following table for configuration.
Page 177 Setting item Value Address configuration Fixed address Master IP address 192.168.0.2 Slave IP address 192.168.0.3 Subnet mask 255.255.255.0 Input Bytes Output Bytes Start up the PC. 6. Select the Start menu-[SYCON.net] and execute it. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 178 2. Installation 7. Set a Confirm password of SYCON.net. Click <OK>. Be careful not to forget the Confirm password. 8. SYCON.net starts up. Click [netDevice]-Device Catalog list on the right side-[CIFX RE/EIM]. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 179 2. Installation Importing slave EDS files 9. Click [Network]-[Import Device Descriptions…]. The [Import Device Description] dialog box appears. 10. Select EDS files provided by each device manufacturer. Click <Open>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 180 Click <Yes>. EDS files are imported. Adding a master icon 12. Click SYCON.net application software-[netDevice]-Device Catalog list on the right side-[EtherNet/IP]-[Master]-[CIFX RE/EIM]. 13. Drag & drop [CIFX RE/EIM] on the bold line on the left side of [netDevice]. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 181 2. Installation 14. The “CIFX_RE_EIM” icon indicating EtherNet/IP board manufactured by Hilscher is connected. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 182 15. Click SYCON.net application software-[netDevice]-Device Catalog list on the right side-[EtherNet/IP]-[Slave]-Slave device. In case of EtherNet/IP slave module: 16. Drag & drop the selected slave device on the bold line on the left side of [netDevice]. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 183 2. Installation 17. EtherNet/IP Slave is connected and the icon appears. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 184 2. Installation Setting on master side 18. Right-click [netDevice]-<CIFX_RE_EIM> and click [Configuration…]. 19. The [Configuration]dialog box appears. Select [Settings]-[Driver] tab. Select the [CIFX Device Driver] checkbox and click <Apply>. 20. Select [Settings]-[Device Assignment]. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 185 2. Installation 21. Select the [CIFX 50E-RE] checkbox. Click <Apply>. 22. Select [Settings]-[Driver]-[Firmware Download] tab. Click <Browse…>. 23. Display [Firmware\CIFX] folder of Communication-Solutions DVD. Select [cifxeim.nxf]. Click <Open>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 186 24. Confirm that [Name] is “EtherNet/IP Scanner for CIFX”. Click <Download>. 25. Click <Yes>. Start the installation of firmware. 26. Select [Settings]-[Licensing] tab. 27. Confirm that the license of [EtherNet/IP Scanner] is set to “Existing: YES”. 28. Select [Configuration]-[Network Settings] tab. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 187 (Ex.) IP Address: 192.168.0.2 (Fixed Addresses) 30. Select [Configuration]-[Scanlist]. Select the [Activate] check box of the slave device. 31. Configure [IP Settings] and click <OK>. (Ex.) IP Address: 192.168.0.3 (Fixed Address) 32. Close the [Configuration] dialog box. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 188 Setting on slave side 33. Right-click [netDevice]-< EPSON_TSERIES_EtherNet_IP….> icon. Select [Configuration…]. 34. The [Configuration] dialog box appears. 35. Select [Configuration]-[Connection]. 36. Select [Connection parameters] tab-[Connection1]-[O -> T]-[Size]. Enter “32” to [Parameter] and click <Apply>. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 189 2. Installation 37. Select [Configuration]-[Connection]. 38. Select [Connection parameters] tab-[T->O]-[Size]. Enter “32” to [Parameter] and click <OK>. 39. Close the [Configuration] dialog box. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 190 44. Right-click [netDevice]-<CIFX_RE_EIM> icon and click [Download]. By the above step, “Setting on master side” and “Setting on slave side” are downloaded to the EtherNet/IP board. The settings are applied to EtherNet/IP board manufactured by Hilscher. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 191 Select [Diagnosis]-[Master Diagnosis]. Right after this, click [Diagnosis]-[General Diagnosis]. 47. State is normal when the indicators of Communication, Run, and Bus ON are turned to green and the indicator of Ready is turned ON. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 192 2. Installation 48. Select [Tools]-[IO Monitor] and perform the input/output test. Click <OK>. 49. Close the [Diagnosis] dialog box. 50. Click [File]-[Save] and save the setting changes to the file. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 193 51. Right-click [netDevice]-<CIFX_RE_EIM> icon. Click [Additional Functions]-[Export]-[CSV…]. 52. Save the CSV file to the file. Exported CSV file is used in the next EPSON RC+7.0 Configuration. Now, the settings by SYCON.net are complete. Close SYCON.net. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 194 EPSON RC+ 7.0. (1) Select [Setup]-[Option Setting] and display the [Option] dialog box. (2) Refer to the EPSON RC+ Users Guide: 23. Installing Controller Options and enable the Fieldbus Master option. (3) The following message dialog appears.
Page 195 : Number of inputs the master controls (Bytes) Total Output Bytes : Number of outputs the master controls (Bytes) (10) Click <Apply>. (11) Click <Close>. The following dialog box appears. The Robot Controller automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 196 (15) Select [Fieldbus Master]-[General]. (16) (15) (16) Confirm that the following items 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.14...
Page 197 : 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.14...
Page 198: Installing Ethernet/Ip Slave Board
The Fieldbus slave board is configured as follows at shipment. Board Appearance Configuration DSW2 DSW1 JMP1 IRQ15 IRQ11 IRQ10 IRQ7 IRQ5 JMP1 All Open All ON Fixed as above All Open DSW1 DSW2 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 199 Waiting master connection Non-recoverable error Wrong IP address (duplication) Blinking Recoverable error Connection time out GRN/RED Self-diagnosing Self-diagnosing alternate LED state No communication packet No link reception or transmission Communication packet Linking reception or transmission RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 200 WARNING equipment. Install the board to the dedicated slot on the Robot Controller. Reference manuals: Robot Controller RC700: Maintenance 7.10 Option Board Robot Controller RC90/90-B: Maintenance 7.9 Option Board RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 201 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 202 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.14...
Page 203 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.14...
Page 204 Fieldbus master device by the applicomIO 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherNet/IP RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 205: Installing Ethernet/Ip Slave Module
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 2048 bits (256bytes) Max. Output data size 2048 bits (256bytes) RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 206 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.14...
Page 207 Confirmation and Configuration of EPSON RC+ 7.0 When the EtherNet/IP slave module is installed to the T/VT 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 208 When Address Configuration is set to “DHCP/BOOTP/ARP”, the Controller waits for  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.14...
Page 209 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. T/VT series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 210 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 applicomIO Console application. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 211 How to Change the Set Value on the Master Side. 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherNet/IP RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 212: 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.14...
Page 213 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.14...
Page 214 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.14...
Page 215 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 216 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.14...
Page 217 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.14...
Page 218 Warning 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 RX(n+1)3 ErrorCode16 RX(n+1)4 ErrorCode32 RX(n+1)5 ErrorCode64 RX(n+1)6 ErrorCode128 RX(n+1)7 ErrorCode256 RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 219 Remote Control Input and Output 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.14...
Page 220 *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 Setting Remote Control Input and Output later in this manual. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 221 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.14...
Page 222 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\CCLink According to the input/output size, the CSP file you use differs.
Page 223: Installing Cc-Link Slave Module
Interface 1 CC-Link V1 port Occupied Stations 1 to 4 station(s) (Remote device station) Master Station’s Handshake Max. Input Data Size 384 bits (48 bytes) Max. Output Data Size 384 bits (48 bytes) RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 224 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.14...
Page 225 Confirmation of EPSON RC+ 7.0 When the CC-Link slave module is installed to the T/VT 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 226 (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. T/VT series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 227 Remote Output RYn0 to RY(n+5)F → RY00 to RY5F When CC-Link board station is 4 Remote Input RXn0 to RX(n+5)F → RX60 to RXAF Remote Output RYn0 to RY(n+5)F → RY60 to RYAF RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 228 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.14...
Page 229 Remote Control Input and Output 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.14...
Page 230 *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 Setting Remote Control Input and Output later in this manual. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 231 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 to 623 RWwm+9 752 to 767 RWwm+A System reserved RWwm+B System reserved RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 232 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\CCLink CSPfile According to the input/output size, the CSP file you use differs.
Page 233: 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.14...
Page 234 - I/O size set by IO Controller once is 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.14...
Page 235 WARNING equipment. Install the board to the dedicated slot on the Robot Controller. Reference manuals: Robot Controller RC700: Maintenance 7.10 Option Board Robot Controller RC90/90-B: Maintenance 7.9 Option Board RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 236 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 237 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.14...
Page 238 (Set 40 bytes in total for the Input.) 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\PROFINET RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 239: Installing Profinet Slave Module
Maximum segment length 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.14...
Page 240 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.14...
Page 241 WARNING equipment. Install the module to the dedicated slot on the T/VT series Manipulator. Reference: Manipulator manual Setup & Operation 17. Fieldbus I/O RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 242 Confirmation with EPSON RC+ 7.0 When PROFINET slave module is installed in the T/VT 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 243 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. T/VT series Manipulator (Controller) automatically starts rebooting. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 244 (Set 40 bytes in total for the Input.) 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\PROFINET RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 245: 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.14...
Page 246 Setting Configure Switch Configuration of an EtherCAT board is not necessary. All settings such as communication configuration for EtherCAT are done by EPSON RC+ 7.0. Wiring Wiring of an EtherCAT slave board uses RJ45 connectors. Make sure to use STP-type 100BASE-TX cables.
Page 247 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 248 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.14...
Page 249 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.14...
Page 250 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherCAT EPSN_RC90_ECT_V2.3.xml...
Page 251 When “256” bytes is set for [Output Bytes], select two of “TxPDO(USINT128byte/256byte)” or “TxPDO(REAL256byte)” Example: When [Input] is “256” bytes and [Output] 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.14...
Page 252: Installing Ethercat Slave Module
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.14...
Page 253 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, Link sensed, no traffic detected no activity Green, flickering Link sensed, activity Link sensed, traffic detected RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 254 Setting Configure Switch Configuration of an EtherCAT module is not necessary. All settings such as communication configuration for EtherCAT are done by EPSON RC+ 7.0. Wiring Wiring of an EtherCAT slave board uses RJ45 connectors. Make sure to use STP-type 100BASE-TX cables.
Page 255 (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.14...
Page 256 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.14...
Page 257 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 EPSON RC+ 7.0 is installed. \EpsonRC70\Fieldbus\EtherCAT EPSN_TSERIES_ECT_V2.3.xml...
Page 258 When “256” bytes is set for [Output Bytes], select two of “TxPDO(USINT128byte/256byte)” or “TxPDO(REAL256byte)” Example: When [Input] is “256” bytes and [Output] 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.14...
Page 259: Operation
NOTE  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 260: 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.14...
Page 261: 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.14...
Page 262: Setting Remote Control Input And Output
(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.14...
Page 263 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.14...
Page 264 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.14...
Page 265 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.14...
Page 266 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.14...
Page 267 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.14...
Page 268 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.14...
Page 269: Troubleshooting
Philips screwdriver Flat-blade screwdriver Tester Using the Woodhead NetMeter (DeviceNet diagnostic tool) is a simple way to learn  physical status of the DeviceNet network. For details of NetMeter, see Woodhead’s Web site (http://www.mysst.com/diagnostics/NetMeter.asp). RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 270: Examining A Problem
4. Troubleshooting (DeviceNet) 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 Jumper Pin for Board Address Setting Watchdog Port (Do not use this port.)
Page 271 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.14...
Page 272: 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 273 See 4.1.2.4. 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.14...
Page 274 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.14...
Page 275 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.14...
Page 276 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.14...
Page 277 → 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.14...
Page 278 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.14...
Page 279 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.14...
Page 280 → 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.14...
Page 281 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.14...
Page 282 (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.14...
Page 283 - Slave disconnected from the network Matter Slave error (Remote I/O communication error) Light 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.14...
Page 284 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.14...
Page 285 → 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.14...
Page 286 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.14...
Page 287 (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.14...
Page 288 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.14...
Page 289 (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.14...
Page 290: 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.14...
Page 291 (1) Three or more connectors and Short circuit terminating resistors branch taps with between signal tester. (2) Wrong terminating wires resistors, etc. Other Find the trouble point. (1) Unconnected or loose connector (2) Cable disconnection, etc. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 292 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.14...
Page 293 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.14...
Page 294 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.14...
Page 295 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.14...
Page 296 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.14...
Page 297 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.14...
Page 298 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 Installing DeviceNet Master Board manufactured by molex. The following section describes the procedure for verifying the scanner board condition with applicomIO Console application.
Page 299 (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 Installing DeviceNet Master Board manufactured by molex. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 300 "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.14...
Page 301 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.14...
Page 302 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.14...
Page 303: 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 304 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 305: 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.14...
Page 306 BF: Red ON Physical Error 4.2.2.1.4. Other Master: BF: OFF 4.2.2.2. Data Link Error ST: Red ON Master: BF: OFF 4.2.2.3. Uninitialized Network ST: OFF Master: BF: Red ON Physical Error 4.2.2.4. Other RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 307 - 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.14...
Page 308 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.14...
Page 309 → 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.14...
Page 310 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.14...
Page 311 → 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.14...
Page 312 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. Normal Communication?  No Consult the PROFIBUS manufacturer. Finish RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 313  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.14...
Page 314 →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.14...
Page 315 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.14...
Page 316 →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.14...
Page 317  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.14...
Page 318 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.14...
Page 319 →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.14...
Page 320: 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.14...
Page 321 (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.14...
Page 322 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.14...
Page 323 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.14...
Page 324 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.14...
Page 325 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.14...
Page 326 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 Installing PROFIBUS-DP Master Board Manufactured by molex. The following section describes the procedure for verifying the scanner board condition with the applicomIO Console application.
Page 327 You can check the conditions of the following errors on this dialog box. 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.14...
Page 328 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.14...
Page 329 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.14...
Page 330: Ethernet/Ip Troubleshooting
2.3.2 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 331 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.14...
Page 332: 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.14...
Page 333 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 Domain name of the applicomIO master on this channel. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 334 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.14...
Page 335 Requests / s Number of requests per second. Useful bytes Number of useful data bytes. Useful bytes / s Number of useful data bytes per second. Requests in error Number of requests in error. RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 336 Number of connections created for this device. 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.14...
Page 337 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.14...
Page 338 : 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.14...
Page 339: Maintenance Parts List
EtherNet/IP board R12NZ900TH − ✓ PROFINET board R12NZ900TG − ✓ EtherCAT board R12NZ900TX − ✓ Master Part Name Code DeviceNet board 2174734 manufactured by molex PROFIBUS-DP board 2174735 EtherNet/IP board 2174736 manufactured by molex RC700 / RC90 Option Fieldbus I/O Rev.14...
Page 340 5. Maintenance Parts List RC700 / RC90 Option Fieldbus I/O Rev.14...

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Rc700

Epson RC90 Manual

1 Introduction

2 Installation

3 Operation

4 Troubleshooting

5 Maintenance Parts List

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