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Epson RC620 Manual

Robot controller option, fieldbus i/o
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Robot Controller RC620 Option
Fieldbus I/O
Rev.8
EM15XC3082F

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Summary of Contents for Epson RC620

  • Page 1 Robot Controller RC620 Option Fieldbus I/O Rev.8 EM15XC3082F...
  • Page 3 Robot Controller RC620 Option Fieldbus I/O Rev.8 Copyright © 2009-2015 SEIKO EPSON CORPORATION. All rights reserved. RC620 Option Fieldbus I/O Rev.8...
  • Page 4 2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death. 3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. RC620 Option Fieldbus I/O Rev.8...
  • Page 5 No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice. Please notify us if you should find any errors in this manual or if you have any comments regarding its contents. RC620 Option Fieldbus I/O Rev.8...
  • Page 6 Epson America, Inc. Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746 : +1-562-290-5900 : +1-562-290-5999 E-MAIL : info@robots.epson.com Europe Epson Deutschland GmbH Factory Automation Division Otto-Hahn-Str.4 D-40670 Meerbusch Germany : +49-(0)-2159-538-1391 : +49-(0)-2159-538-3170 E-MAIL : robot.infos@epson.de RC620 Option Fieldbus I/O Rev.8...
  • Page 7 7F, Jinbao Building No. 89, Jinbao Street, Dongcheng District, Beijing, China, 100005 : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1120 Taiwan Epson Taiwan Technology & Trading Ltd. Factory Automation Division 14F, No.7, Song Ren Road, Taipei 110, Taiwan, ROC : +886-(0)-2-8786-6688 : +886-(0)-2-8786-6677 Korea Epson Korea Co., Ltd.
  • Page 8 In addition, please take security measure such as the antivirus software to block the virus from the network connection. Security support for the USB memory Make sure that the USB memory is not infected with virus when connecting to the Controller. RC620 Option Fieldbus I/O Rev.8...

  • Page 9: Table Of Contents

    2.3.1 How to Setup a EtherNet/IP Network ..........85 2.3.2 EtherNet/IP Network Construction ..........85 2.3.3 EtherNet/IP Master Board Installation .......... 86 2.3.4 EtherNet/IP Slave Board Installation .......... 107 2.4 CC-Link ................. 113 2.4.1 CC-Link Slave Board Installation ..........113 RC620 Option Fieldbus I/O Rev.8...
  • Page 10 4.2.3 Procedures for Examining Possible Causes ....... 190 4.3 EtherNet/IP Troubleshooting ..........200 Exclusion ....................200 4.3.1 Examining a Problem ..............200 4.3.2 Problems and Countermeasures ..........202 4.3.3 Tests and diagnostics ..............202 5. Maintenance Parts List ..........209 RC620 Option Fieldbus I/O Rev.8 viii...

  • Page 11: Introduction

    RS-232c Fieldbus Sample Parallel Connection Sample Fieldbus Connection The Fieldbus master function can be added to the RC620 robot controller by installing the Fieldbus master board. Each type of Fieldbus supports the following boards. DeviceNet master board PROFIBUS-DP master board EtherNet/IP master board You can install one Fieldbus master board per controller.

  • Page 12: Devicenet

    Detachable communication connectors provide you with simple wiring between nodes and easy network separation or reconstruction. Specified environment-resistance cables allow you to construct an environment-resistant system at low cost. RC620 Option Fieldbus I/O Rev.8...
  • Page 13 The data transfer frequency is defined by master configuration.  NOTE For Change of State and Cyclic, the ACK which verifies communication completion can be disabled by setting. However, never disable the ACK since communication errors cannot be detected. RC620 Option Fieldbus I/O Rev.8...

  • Page 14: General Specifications

    2 wires for power supply, 1 shield wire) Communications 24 V DC (supplied from a connector) Power Supply Voltage * When thin cable is used for trunk line, the maximum network length is 100 m. RC620 Option Fieldbus I/O Rev.8...

  • Page 15: Profibus Dp

    Using a Fieldbus master board, you can control 1,024 inputs (128 bytes) and 1,024 outputs (128 bytes). Also, using a Fieldbus slave board, you can exchange 256 inputs (32 bytes) and 256 outputs (32 bytes) with a master. RC620 Option Fieldbus I/O Rev.8...

  • Page 16: General Specifications

    93.75 kbps 1200 m 19.2 kbps 1200 m 9.6 kbps 1200 m Maximum Stations 126 (including master unit and repeater) Data Length / 244 bytes Frame Cable 2-wire cable dedicated to PROFIBUS (2 wires for signal) RC620 Option Fieldbus I/O Rev.8...

  • Page 17: 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. RC620 Option Fieldbus I/O Rev.8...

  • Page 18: General Specifications

    - Explicit messaging connection 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 RC620 Option Fieldbus I/O Rev.8...

  • Page 19: Cc-Link

    Open Standard (Multi-vendor) Due to an open communication standard, various devices from many manufactures are available. Standardized communication connectors allow you to reconstruct your network easily. RC620 Option Fieldbus I/O Rev.8...

  • Page 20: General Specifications

    Transmission Channel Type Bus (EIA RS485 compliant) Transmission Format HDLC compliant Maximum Number of Devices 64 units Slave Station Number 1 to 64 CC-Link Ver1.10 cable Connection Cable (3 core twist cable with a shield) RC620 Option Fieldbus I/O Rev.8...

  • Page 21: 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. RC620 Option Fieldbus I/O Rev.8...

  • Page 22: Profinet Communication

    PROFINET is designed to support all applications in a plant versatilely with one bus. Therefore, PROFINET has three different performance levels as described below. For RC620 option fieldbus I/O, “2: RT (Real-time)” communication is supported. 1: NRT (Non Real-time) This communication is based on TCP/IP.

  • Page 23: Installation

    When installing the DeviceNet master board, refer to the section 2.1.3 DeviceNet Master Board Installation later in this chapter. When installing the DeviceNet slave board, refer to the section 2.1.4 DeviceNet Slave Board Installation later in this chapter. 8. Operate the DeviceNet network. RC620 Option Fieldbus I/O Rev.8...

  • Page 24: Devicenet Network Construction

    For DeviceNet, 5-wire cables are used for trunk lines and drop lines. Commercially available DeviceNet cables can be used. There are two types of DeviceNet cables: Thick cable and Thin cable. Environment-resistant cable and flexible cable are available. For details of cables, see ODVA’s Web site (http://www.odva.org/). RC620 Option Fieldbus I/O Rev.8...
  • Page 25 T-branch, daisy chain. For tree topology, there is no limitation of daisy chain layer but drop line length is limited. For details of drop line length, refer to the following section Drop Line Length. Terminating Terminating Branch Tap Resistor Trunk Line Resistor Daisy Chain Tree Multi-drop T-branch RC620 Option Fieldbus I/O Rev.8...
  • Page 26 Thick Cable Length + Thin Cable Length ≤ 100m 500 kbps Thick Cable Length + 2.5 × Thin Cable Length ≤ 250m 250 kbps Thick Cable Length + 5.0 × Thin Cable Length ≤ 500m 125 kbps RC620 Option Fieldbus I/O Rev.8...
  • Page 27 When an external power supply is installed in the network as shown in the figure below, the current capacity is 11A and it exceeds the permissible current of the cable. Power Supply Tap Terminating Terminating Trunk Line Resistor Resistor External Power Supply 24 V DC RC620 Option Fieldbus I/O Rev.8...
  • Page 28 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 29 Loosen the screws securing the cables on the connector. If the screws are not  NOTE loosened, the wires go into different openings on the rear of connector instead of the correct openings and the wires cannot be secured. RC620 Option Fieldbus I/O Rev.8...

  • Page 30: Devicenet Master Board Installation

    4-pin Terminal Jumper pin for Board Address Watchdog Port (Do not use this port.) Male 9-pin D-Sub Port for Board Configuration Status Display LED (2) Left: Module/NetWork LED Right: IO LED DeviceNet Port C0 C1 C2 RC620 Option Fieldbus I/O Rev.8...
  • Page 31 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 32 2. Run the file from the install folder in the controller to start the installation. C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE 3. The dialog shown below appears. Select the desired language for the installer. 4. The [Summary] dialog box appears. Select “Products Installation”. 5. The [applicomIO] dialog box appears. Select “Installation”. RC620 Option Fieldbus I/O Rev.8...
  • Page 33 6. The [Installation] dialog box appears. Select “applicomIO”. 7. The applicomIO console application installer starts, and the [Welcom to applicomIO 2.4 Setup] dialog box appears. Click <Next>. 8. The [License Agreement] dialog box appears. Read the software license agreement and click <Yes>. RC620 Option Fieldbus I/O Rev.8...
  • Page 34 Specify the installation folder for the applicomIO console application. The default specifies here: C:\Program Files\Woodhead\Direct-Link\applicomIO\2.4 If you agree to the default installation folder, click <Next>. 11. The [Select Components] dialog box appears. Install the default components. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 35 13. Check the device data file you want to install (EDS for DeviceNet). 14. Click <Next>. 15. The [Select options] dialog box appears. Click <Next>. 16. The [Start Copying files] dialog box appears. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 36 No installation is necessary when a service pack is not attached to controller. 21. After completing the installation of the service pack, shutdown the computer. 22 Refer to the next section Board Installation to install the DeviceNet master board. RC620 Option Fieldbus I/O Rev.8...
  • Page 37 WARNING equipment. 1. Configure the board address jumper (JP1) on DeviceNet master board. You can install one Fieldbus master board in the RC620 robot controller. The board number should be “1”. Refer to the following table for JP1 configuration. Short Socket Board No.
  • Page 38 6. The next dialog appears. Confirm that the detected hardware is “applicomIO PCI Boad 32K”. 7. Select<Install the software automatically (Recommended)>. 8. Click <Next>. 9. The following dialog box appears. Necessary software is automatically installed. RC620 Option Fieldbus I/O Rev.8...
  • Page 39 10. When the installation is completed, the [Completing the Found New Hardware Wizard] dialog box appears. Click <Finish>. 11. Start the <applicomIO Console> application. 12. The [applicomIOR console] dialog box appears. Add the DeviceNet master board. Click the <Add Board> icon. RC620 Option Fieldbus I/O Rev.8...
  • Page 40 When the applicomIO Console application shuts down, the message below appears. Click <Yes>. 14-2 The next message dialog follows. Click <OK>. 14-3 Reboot the Windows. 15. After the controller is rebooted, refer to the next section Master Mode and continue the step. RC620 Option Fieldbus I/O Rev.8...
  • Page 41 4. Select [Protocol]. 5. Select the [Equipment Library] tab. 6. Click the <Add> icon. 7. The [Select configuration files] dialog box appears. Specify the EDS file that is supplied by the device manufacturer. Click <Open>. RC620 Option Fieldbus I/O Rev.8...
  • Page 42 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 43 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 44 When the device setting is completed, click <OK>.  NOTE Not every slave device supports all connection types. Understand the specifications of the slave device you want to use and configure the connection correctly. RC620 Option Fieldbus I/O Rev.8...
  • Page 45 When the system cannot identify the device you want to use (its EDS file is not registered), the following dialog box will appear. 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 46 19. After few seconds, the display of “Configured boards state” on the status bar turns to green. Now, the Fieldbus master board is ready to operate in the master mode. 20. Close the applicomIO Console application. 21. Refer to the section EPSON RC+6.0 configuration and continue the step. RC620 Option Fieldbus I/O Rev.8...
  • Page 47 2. Installation EPSON RC+6.0 configuration To use the Fieldbus master board, the RC620 option setting and Fieldbus master setting should be enabled. 1. Select [Setup]-[Option Setting] and display the [Option] dialog box. 2. See the EPSON RC+ Users Guide: 18. Installing Controller Options and enable the Fieldbus Master option.
  • Page 48 2. Installation 8. Click <Close>. The following dialog box appears. SPEL control part of the RC620 robot controller automatically starts rebooting. 9. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. (10) (11) 10. Select [Inputs / Outputs]. 11. Confirm that “Fieldbus master” displays the following:...

  • Page 49: Devicenet Slave Board Installation

    NS LED : Network status display MS LED : Module status display Status Display LED Configure Switch The LED shows the board status. DeviceNet Connector For details, refer to the section LED Description of DeviceNet. RC620 Option Fieldbus I/O Rev.8...
  • Page 50 LED status represents the status of the fieldbus board. LED status Communications power supply OFF Device power supply OFF Disconnected Link OK Device operating Online connected Blinking Online disconnected Data size error Link error Critical error Blinking Communication time out Error RC620 Option Fieldbus I/O Rev.8...
  • Page 51 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 52 WARNING of equipment. Follow the instruction below and insert the board into the dedicated slot of the controller. 1. Remove two screws (+) on the back side of the RC620 robot controller. RC620 Back Plate Bottom 2.
  • Page 53 Confirmation with EPSON RC+ 6.0 When the DeviceNet slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 6.0 has recognized the DeviceNet slave board using the following procedure. 1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.
  • Page 54 3. Change the settings of [Input Bytes] and [Output Bytes]. In this example, both of them are changed to 20 Bytes. 4. Click <Apply>. 5. Click <Close> and the following message dialog appears. ＋ SPEL control part of RC620 robot controller automatically starts rebooting. RC620 Option Fieldbus I/O Rev.8...
  • Page 55 Electronic Information File (EDS file) An EDS file is supplied for DeviceNet slave board network configuration. The file is located in the following folder in the Installer DVD that is attached to the Robot Controller. \EpsonRC60\Fieldbus\DeviceNet RC620 Option Fieldbus I/O Rev.8...

  • Page 56: Profibus Dp

    PROFIBUS DP network is configured as shown in the following figure. Network Master 1 Master 2 Cable Terminating Resistor ON Terminating Resistor ON Slave Slave Slave Slave Slave Repeater Terminating Resistor ON Terminating Resistor ON Slave Slave Slave Slave Slave RC620 Option Fieldbus I/O Rev.8...
  • Page 57 Communications power supply (5 V) 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 58 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 59 In this way, the master can only communicate with its slaves while it is holding the token. The slaves respond to only the inquiry from the master. No slave can output any messages. RC620 Option Fieldbus I/O Rev.8...
  • Page 60 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. RC620 Option Fieldbus I/O Rev.8...

  • Page 61: Profibus-Dp Master Board Installation

    126 (32 per segment) 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 62 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 63 2. Execute the following file in the install folder of the controller and start the installation. C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE 3. The following dialog box appears. Select the desired language for the installer. 4. The [Summary] dialog box appears. Select “Products Installation”. 5. The [applicomIO] dialog box appears. Select “Installation”. RC620 Option Fieldbus I/O Rev.8...
  • Page 64 7. The applicomIO Console application installer starts up and the [Welcom to applicomIO 2.4 Setup] dialog box appears Click <Next>. 8. The [License Agreement] dialog box appears. Read the software license agreement and click <Yes>. RC620 Option Fieldbus I/O Rev.8...
  • Page 65 Specify the installation folder for the applicomIO console application. The default specifies here: C:\Program Files\Woodhead\Direct-Link\applicomIO\2.4 If you agree to the default installation folder, click <Next>. 11. The [Select Components] dialog box appears. Install the default components. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 66 13. Check the device data file you want to install (GSD for PROFIBUS-DP). 14. Click <Next>. 15. The [Select options] dialog box appears. Click <Next>. 16. The [Start Copying files] dialog box appears. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 67 No installation is necessary when a service pack is not attached to the controller. 22. After completing the installation of the service pack, shutdown the computer. 23. Refer to the next section Board Installation and install the PROFIBUS-DP master board. RC620 Option Fieldbus I/O Rev.8...
  • Page 68 2. Execute the following file in the install folder of the controller and start the installation. C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE 3. The following dialog box appears. Select <Run setup.exe>. 4. The [Summary] dialog box appears. Select “Products Installation”. 5. The [Installation] dialog box appears. Select “applicomIO”. RC620 Option Fieldbus I/O Rev.8...
  • Page 69 7. The applicomIO Console application installer starts up and the [Welcome to the InstallShield Wizard for applicomIO] dialog box appears Click <Next>. 8. The [License Agreement] dialog box appears. Read the software license agreement and click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 70 Specify the installation folder for the applicomIO console application. The default specifies here: C:\Program Files(x86)\BoadCommunications\applicomIO\4.1 If you agree to the default installation folder, click <Next>. 11. The [Ready to Install the Program] dialog box appears. Click <Install>. RC620 Option Fieldbus I/O Rev.8...
  • Page 71 After the installation completes, the [InstallShield Wizard Completed] dialog box appears. Click<Finish>. 13. The message prompting you to reboot your PC appears. Select “Yes” and reboot the PC. 14. Refer to the next section Board Installation and install the PROFIBUS-DP master board. RC620 Option Fieldbus I/O Rev.8...
  • Page 72 WARNING equipment. 1. Configure the board address jumper (JP1) on PROFIBUS-DP master board. You can install one Fieldbus master board in the RC620 robot controller. The board number should be “1”. Refer to the following table for JP1 configuration. PCI-DPIO Short Socket Board No.
  • Page 73 Select <No, not this time> and click <Next>. 6. The following dialog box appears. Confirm that the detected hardware is “applicomIO PCI Board 32K”. 7. Select <Install the software automatically (Recommended)>. 8. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 74 9. The following dialog box appears. Necessary software is automatically installed. 10. When the installation is completed, the [Complating the Found New Hardware Wizard] dialog box appears. Click <Finish>. 11. Start the <applicomIO Console> application. RC620 Option Fieldbus I/O Rev.8...
  • Page 75 13. The [Add New Board] dialog box appears. Confirm that “PCI-DPIO” is displayed in [Board to Add]-[Board Type] and click <OK>. PCI-DPIO PCU-D2PIO If the board cannot be detected, the following dialog appears. Make sure that the board is correctly inserted. RC620 Option Fieldbus I/O Rev.8...
  • Page 76 When closing the applicomIO Console application, the following message box appears. Click <Yes>. 14-2 The following dialog appears. Click <OK>. 14-3 Reboot the Windows. 15. After the controller is rebooted, refer to the next section Master Mode and continue the step. RC620 Option Fieldbus I/O Rev.8...
  • Page 77 4. Select “Protocol”. 5. Select the [Equipment Library] tab. 6. Click the<Add> icon. 7. The [Seelct configuration files] dialog box appears. Specify the GSD file that is supplied from the device manufacturer. Click <Open>. PCI-DPIO RC620 Option Fieldbus I/O Rev.8...
  • Page 78 Click <Next>. 7-(2) Following dialog box appears. Specify the folder in which the GSD file is stored. Select <Add all the GSD from the Directory>. (7)-2 (7)-3 (7)-4 7-(3) Click <Browse>. 7-(4) Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 79 2. Installation 7-(5) The following dialog box appears. Confirm the retrieved device information. (7)-6 7-(6) Click <Next>. 7-(7) The following dialog box appears. Click <Finish> to complete the GSD file registration. RC620 Option Fieldbus I/O Rev.8...
  • Page 80 8. Configure the PROFIBUS-DP master. Select [Description]-[Properties] from the applicomIOR console menu. 9. The [Channel Properties] dialog box appears. Selecct “Profibus, Master/Slave” and click <OK>. 10. Select [Protocol]-[Properties] from the applicomIOR console menu. PCI-DPIO PCU-D2PIO RC620 Option Fieldbus I/O Rev.8...
  • Page 81 Set Baud Rate for the PROFIBU-DP network, the master address (Master Profibus Address), and Number of Repeaters in the network. PCI-DPIO PCU-D2PIO When the master setting is complted, click <OK>. 12. Select the [Network Detectionta] tab. (13) (12) 13. Clcik the <Read Network Configuration> icon. RC620 Option Fieldbus I/O Rev.8...
  • Page 82 15. The [Network Detection] dialog box appears and starts loading the device information on the Fieldbus. 16. The list of detected devices is displayed in the [Network Detection] panel. 17. Select a device you want to scan. (18) (17) 18. Click the <Insert in Configuration> icon. RC620 Option Fieldbus I/O Rev.8...
  • Page 83 In this case, get the EDS file from the device manufacturers and register it by following the step 3 through 6. After that, follow the steps 12 and 13. RC620 Option Fieldbus I/O Rev.8...
  • Page 84 21. After a few seconds, the display of “Configured boards state” on the status bar turns to green. Now, the Fieldbus master board is ready to operate in the master mode. 22. Close the applicomIO console application. 23. Refer to the section EPSON RC+6.0 configuration and continue the step. RC620 Option Fieldbus I/O Rev.8...
  • Page 85 2. Installation EPSON RC+6.0 configuration To use the Fieldbus master board, the RC620 option setting and Fieldbus master setting should be enabled. 1. Select [Setup]-[Option Setting] and display the [Option] dialog box. 2. Refer to the EPSON RC+ Users Guide: 18. Installing Controller Options and enable the Fieldbus Master option.
  • Page 86 2. Installation 8. Click <Close>. The following dialog box appears. ＋ SPEL control part of the RC620 robot controller automatically starts rebooting. 9. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. (10) (11) 10. Select [Inputs / Outputs].
  • Page 87 Input Bytes : 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) RC620 Option Fieldbus I/O Rev.8...

  • Page 88: Profibus-Dp Slave Board Installation

    For details, refer to the section LED Description. The Fieldbus slave board is configured as follows at shipment. Board Appearance Configuration DSW2 DSW1 JMP1 IRQ15 IRQ11 IRQ10 DSW2 IRQ7 DSW1 IRQ5 JMP1 All Open All ON Fixed as above All Open RC620 Option Fieldbus I/O Rev.8...
  • Page 89 Data exchangeable Data unexchangeable Initialization error − − 1 Hz blinking (Mismatch with network configuration) Initialization error − − 2 Hz blinking (Mismatch with user parameter) Initialization error − − 4 Hz blinking (Module initialization error) RC620 Option Fieldbus I/O Rev.8...
  • Page 90 Prepare the cable for PROFIBUS-DP sold in the market as a communication cable. 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 91 WARNING equipment. Follow the instruction below and insert the board into the dedicated slot of the controller. 1. Remove two screws (+) on the back side of the RC620 robot controller. RC620 Back Plate Bottom 2.
  • Page 92 Editing of input / output size You can change the input/output size of PROFIBUS-DP slave board if necessary. 1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. 2. Select [Inputs / Outputs]-[Fieldbus Slave]-[General]. RC620 Option Fieldbus I/O Rev.8...
  • Page 93 4. Click <Apply>. 5. Click <Close> and the following dialog box appears. ＋ SPEL control part of RC620 robot controller automatically starts rebooting. 6. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. 7. Select [Inputs / Outputs]. 8. Make sure that the following are displayed in “Fieldbus Slave”.
  • Page 94 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 in the Installer DVD that is attached to the Robot Controller. \EpsonRC60\Fieldbus\Profibus RC620 Option Fieldbus I/O Rev.8...

  • Page 95: Ethernet/Ip

    You can install the master anywhere in the network. One master node can control up to 127 nodes. Universal Ethernet cable is used for EtherNet/IP. Use a proper cable such as environmental resistance and refraction resistance that fulfills the environment. For details, see the website of ODVA. (http://www.odva.org/) RC620 Option Fieldbus I/O Rev.8...

  • Page 96: Ethernet/Ip Master Board Installation

    Explicit message Cyclic, Change of State connection EDS support Part Number Max. Input Data Size 1024 bit (128 bytes) Max. Output Data Size 1024 bit (128 bytes) Automatic Detection Yes. Devices can be detected automatically. RC620 Option Fieldbus I/O Rev.8...
  • Page 97 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 98 2. Run the following file from the install folder in the controller to start the installation. C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE 3. The following dialog box appears. Select the desired language for the installer. 4. The [Summary] dialog box appears. Select “Products Installation”. 5. The [applicomIO] dialog box appears. Select “Installation” RC620 Option Fieldbus I/O Rev.8...
  • Page 99 6. The [Installation] dialog box appears. Select “applicomIO”. 7. The applicomIO console application starts and the [Welcom to applicomIO 2.4 Setup] dialog box appears. Click <Next>. 8. The [License Agreement] dialog box appears. Read the software license agreement and click <Yes>. RC620 Option Fieldbus I/O Rev.8...
  • Page 100 Specify the installation folder for the applicomIO Console application. The default specifies here: C:\Program Files\Woodhead\Direct-Link\applicomIO\2.4 If you agree to the default installation folder, click <Next>. 11. The [Select Components] dialog box appears. Install the default components. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 101 13. Check the device data file you want to install (EDS for EtherNet/IP). 14. Click <Next>. 15. The [Select options] dialog box appears. Click <Next>. 16. The [Start Copying files] dialog box appears. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 102 No installation is necessary when a service pack is not attached to the controller. 21. After completing the installation of the service pack, shutdown the computer. 22. Refer to the next section Board Installation to install the EtherNet/IP master board. RC620 Option Fieldbus I/O Rev.8...
  • Page 103 WARNING 1. Configure the board address jumper (JP1) on EtherNet/IP master board. You can install one Fieldbus master board in the RC620 robot controller. The board number should be “1”. Refer to the following table for JP1 configuration.
  • Page 104 6. The following dialog box appears. Confirm that the detected hardware is “applicomIO PCI Boad 32K”. 7. Select <Install the software automatically (Recommended)>. 8. Click <Next>. 9. The following dialog box appears. Necessary software is automatically installed. RC620 Option Fieldbus I/O Rev.8...
  • Page 105 10. When the installation is completed, the [Complating the Found New Hardware Wizard] dialog box appears. Click <Finish>. 11. Start <applicomIO Console> application. 12. The [applicomIOR console] dialog box appears. Add the EtherNet/IP master board. Click <Add Board>. RC620 Option Fieldbus I/O Rev.8...
  • Page 106 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. 14. The [Channnel Properties] dialog box appears. Select [Protocol]-[EtherNet/IP] and click <OK>. RC620 Option Fieldbus I/O Rev.8...
  • Page 107 When closing the applicomIO Console application, the following message appears. Click <Yes>. 16-2 The following message appears. Click <OK>. 16-3 Reboot the Windows. 17. After the controller is rebooted, refer to the next section Master Mode and continue the step. RC620 Option Fieldbus I/O Rev.8...
  • Page 108 2. Start <applicomIO Console> application. 3. The [applicomIOR console] dialog box appears. Register the device information (EDS file) that is necessary for the network setup. 4. Select “Protocol”. 5. Select the [Equipment Library] tab. 6. Click the <Add> icon. RC620 Option Fieldbus I/O Rev.8...
  • Page 109 Click <Next>. 8. The following dialog box appears. Specify the folder in which the EDS file is stored. Select <Add all the EDS from the Directory>. (10) 9. Click <Browse>. 10. Click <Next>. RC620 Option Fieldbus I/O Rev.8...
  • Page 110 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 111 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 112 22. The following dialog box appears. Clear the [Link Parameters] checkbox. (23) (22) (24) 23. Assign the values from 1 to 127 in [Number:]. This number is “Device ID” and required to create a SPEL program. RC620 Option Fieldbus I/O Rev.8...
  • Page 113 26. After a few seconds, the display of “Configured boards state” on the status bar turns to green. Now, the Fieldbus master board is ready to operate in the master mode. 27. Close the applicomIO console application. 28. Refer to the section EPSON RC+6.0 configuration and continue the step. RC620 Option Fieldbus I/O Rev.8...
  • Page 114 2. Installation EPSON RC+6.0 configuration To use the Fieldbus master board, the RC620 option setting and Fieldbus master setting should be enabled. 1. Select [Setup]-[Option Setting] and display the [Option] dialog box. 2. See EPSON RC+ User’s Guide: 17. Installing Controller Options and enable the Fieldbus Master option.
  • Page 115 2. Installation 8. Click <Close>. The following dialog box appears. ＋ SPEL control part of the RC620 robot controller automatically starts rebooting. 9. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. (10) (11) 10. Select [Inputs / Outputs].
  • Page 116 Input Bytes : 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) RC620 Option Fieldbus I/O Rev.8...

  • Page 117: Ethernet/Ip Slave Board Installation

    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 256 bits (32 bytes) Max. Output data size 256 bits (32 bytes) RC620 Option Fieldbus I/O Rev.8...
  • Page 118 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 CAUTION proper performance. RC620 Option Fieldbus I/O Rev.8...
  • Page 119 WARNING equipment. Follow the instruction below and insert the board into the dedicated slot of the controller. 1. Remove two screws (+) on the back side of the RC620 robot controller. RC620 Back Plate Bottom 2.
  • Page 120 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 121 In this example, both of them are changed to 20 Bytes. 4. Click <Apply>. 5. Click <Close> and the following dialog box appears. ＋ SPEL control part of the RC620 robot controller automatically starts rebooting. RC620 Option Fieldbus I/O Rev.8...
  • Page 122 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 in the Installer DVD that is attached to the Robot Controller. \EpsonRC60\Fieldbus\EtherNet/IP RC620 Option Fieldbus I/O Rev.8...

  • Page 123: Cc-Link

    For details, refer to the section LED Description. The Fieldbus slave board is configured as follows at shipment. Board Appearance Configuration DSW2 DSW1 JMP1 IRQ15 IRQ11 IRQ10 DSW2 IRQ7 DSW1 IRQ5 JMP1 All Open All ON Fixed as above All Open RC620 Option Fieldbus I/O Rev.8...
  • Page 124 Make sure that the station does not duplicate with the other devices inside the network at configuration. 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 125 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”. RC620 Option Fieldbus I/O Rev.8...
  • Page 126 WARNING equipment. Follow the instruction below and insert the board into the dedicated slot of the controller. 1. Remove two screws (+) on the back side of the RC620 robot controller. RC620 Back Plate Bottom Remove the plate.
  • Page 127 Click <Close>. Editing of input / output size You can change the input/output size of the CC-Link slave board if necessary. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. Select [Inputs / Outputs]-[Fieldbus Slave]-[General]. RC620 Option Fieldbus I/O Rev.8...
  • Page 128 In this example, both of them are changed to 20 Bytes. Click <Apply>. Click <Close> and the following dialog box appears. SPEL control part of the RC620 robot controller automatically starts rebooting. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. Select [Inputs / Outputs].
  • Page 129 Ready RXn1 Running RXn2 Paused RXn3 Error RXn4 EStopOn RXn5 SafeguardOn RXn6 SError RXn7 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 130 *1: Remote control input and output are not allocated to fieldbus slave I/O by default. To allot remote control inputs and outputs to fieldbus slave I/O, refer to 3.5 Remote Control Input and Output setting later in this manual. RC620 Option Fieldbus I/O Rev.8...
  • Page 131 *1: Remote control inputs and outputs are not allocated to fieldbus slave I/O by default. To allot remote control inputs and outputs to fieldbus slave I/O, refer to 3.5 Remote Control Input and Output setting later in this manual. RC620 Option Fieldbus I/O Rev.8...
  • Page 132 (Bytes) (Bytes) 0 < x = < 4 x − 4 4 < x = < 12 x − 8 12 < x = < 24 x − 12 24 < x = < 32 RC620 Option Fieldbus I/O Rev.8...
  • Page 133 See the table below and select the CSP file. Input / Output Size ( x ) Occupied stations Electronic file name 0 < x = < 12 EPSN0200_1.csp 12 < x = < 24 EPSN0200_2.csp 24 < x = < 32 EPSN0200_3.csp RC620 Option Fieldbus I/O Rev.8...

  • Page 134: Profinet

    100 M bps, full duplex Maximum segment length 100 m Cable RJ45 with connector 100BASE-TX (Cat5) Cycle time 2 msec RJ45 port × 1 Interface Input Data Size 256 bits (32 bytes) Output Data Size 256 bits (32 bytes) RC620 Option Fieldbus I/O Rev.8...
  • Page 135  Be sure to use cables and connectors complying with the industrial standards or noise resistant Ethernet cable (STP cable). If you use an office use product or UTP cable, it may cause communication errors and may not offer the proper CAUTION performance. RC620 Option Fieldbus I/O Rev.8...
  • Page 136 WARNING equipment. Follow the instruction below and insert the board into the dedicated slot of the controller. 1. Remove two screws (+) on the back side of the RC620 robot controller. RC620 Back Plate Bottom 2.
  • Page 137 Editing of input / output size and DAP mode You can change the input/output size of the PROFINET slave board if necessary. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. Select [Inputs / Outputs]-[Fieldbus Slave]-[General]. RC620 Option Fieldbus I/O Rev.8...
  • Page 138 DAP Ver.2. Click <Apply>. Click <Close> and the following dialog box appears. SPEL control part of the RC620 robot controller automatically starts rebooting. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box. Select [Inputs / Outputs]. RC620 Option Fieldbus I/O Rev.8...
  • Page 139 NOTE When setting this option to the PROFINET IO controller (Master), configure as below. The RC620 controller includes eight pseudo I/O slots. In these slots, add 1 to 8 bytes input modules, output modules. Make sure to add the output modules first, and then, add the input modules.

  • Page 140: Operation

    You can configure the system so that all outputs including the fieldbus outputs will be turned off when the emergency stop occurs and when a Reset instruction is executed. For details of the configuration, refer to the chapter SPEL+ Options in the EPSON RC+ User's Guide.

  • Page 141: 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 RC620 Option Fieldbus I/O Rev.8...

  • Page 142: Explicit Message Connection (For Devicenet, Ethernet/Ip)

    3. Operation 3.4 Explicit Message Connection (for DeviceNet, EtherNet/IP) Issuing an Explicit message from the DeviceNet/EtherNet/IP master unit to the RC620 controller acquires and configures the DeviceNet and EtherNet/IP I/O area. Supported function and Class ID configurations are as follows:...

  • Page 143: Remote Control Input And Output Setting

    (5) Click <Apply> to save the settings. Then, click <Close>. To enable the remote control, refer to EPSON RC+ 6.0 User’s Guide 11. Remote Control. RC620 Option Fieldbus I/O Rev.8...
  • Page 144 Not used SelRobot1 Not used SelRobot2 Not used SelRobot4 Not used SelRobot8 Not used SelRobot16 SetMotorsOn 1032 SetMotorsOff 1033 Not used SetPowerHigh Not used SetPowerLow Not used ForcePowerLow Home 1034 Not used MCal Not used Recover RC620 Option Fieldbus I/O Rev.8...
  • Page 145 ErrorCode2 1040 ErrorCode4 1041 ErrorCode8 1042 ErrorCode16 1043 ErrorCode32 1044 ErrorCode64 1045 ErrorCode128 1046 ErrorCode256 1047 ErrorCode512 1048 ErrorCode1024 1049 ErrorCode2048 1050 ErrorCode4096 1051 ErrorCode8192 1052 Not used InsideBox1 Not used InsideBox2 Not used InsideBox3 RC620 Option Fieldbus I/O Rev.8...
  • Page 146 Not used InsidePlane4 Not used InsidePlane5 Not used InsidePlane6 Not used InsidePlane7 Not used InsidePlane8 Not used InsidePlane9 Not used InsidePlane10 Not used InsidePlane11 Not used InsidePlane12 Not used InsidePlane13 Not used InsidePlane14 Not used InsidePlane15 RC620 Option Fieldbus I/O Rev.8...
  • Page 147 Reset Shutdown Not used SelRobot1 Not used SelRobot2 Not used SelRobot4 Not used SelRobot8 Not used SelRobot16 SetMotorsOn SetMotorsOff Not used SetPowerHigh Not used SetPowerLow Not used ForcePowerLow Home Not used MCal Not used Recover RC620 Option Fieldbus I/O Rev.8...
  • Page 148 CurrProg8 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 149 Not used InsidePlane4 Not used InsidePlane5 Not used InsidePlane6 Not used InsidePlane7 Not used InsidePlane8 Not used InsidePlane9 Not used InsidePlane10 Not used InsidePlane11 Not used InsidePlane12 Not used InsidePlane13 Not used InsidePlane1４ Not used InsidePlane15 RC620 Option Fieldbus I/O Rev.8...

  • Page 150: Troubleshooting

    DeviceNet network. For details of NetMeter, see Woodhead’s Web site (http://www.mysst.com/diagnostics/NetMeter.asp). 4.1.1 Examining a Problem 4.1.1.1 Scanner Board Diagnostic LEDs The DeviceNet board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure. PCI-DVNIO 4-pin Terminal...
  • Page 151 Slave Terminating Resistor Start the examination from this block Slave when the error occurred here. A communication time out error occurred. (5) Error Occurrence Condition  Immediate occurrence (high reproducibility)  Rare occurrence (low reproducibility) RC620 Option Fieldbus I/O Rev.8...

  • Page 152: 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 153 MS: Red Blinking 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. NS: OFF Uninitialized Network MS: Red ON Broken Master Unit Other Replace the Unit. RC620 Option Fieldbus I/O Rev.8...
  • Page 154 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 155 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) RC620 Option Fieldbus I/O Rev.8...
  • Page 156 Immediately 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 157 Replace the unit with a new new one. one. → 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 158 4.1.2.2 Master: Busoff Detection 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) RC620 Option Fieldbus I/O Rev.8...
  • Page 159 Immediately 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 160 → 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 161 Problem exists. (Fix it.)  No Problem Check that power is supplied to all slaves. No problem Problem exists. (Fix it.)  No Problem Check for master unit configuration. No problem Finish Replace the master unit. RC620 Option Fieldbus I/O Rev.8...
  • Page 162 Change the configuration. configuration application and check that the configuration difference with the network condition. (2) Check that the configuration data were written in flash.  For details, refer to the section 4.1.3.6 EPSON RC+ Master Configuration. RC620 Option Fieldbus I/O Rev.8...
  • Page 163 - Slave disconnected from the network Light Matter Slave error (Remote I/O communication error) Blinking detection - Slave not added to the network (Scan list collation error) - Duplicate MAC ID: The MAC ID configuration was duplicated. RC620 Option Fieldbus I/O Rev.8...
  • Page 164 Immediately 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 165 Replace the unit with a one. new one. → 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 166 Problem exists. (Fix it.)  No Problem Check that power is supplied to all slaves. No problem Problem exists. (Fix it.)  No Problem Check for master unit configuration. No problem Finish Replace the master unit. RC620 Option Fieldbus I/O Rev.8...
  • Page 167 Change the configuration. configuration application and check that the configuration difference with the network condition. (2) Check that the configuration data were written in flash.  For details, refer to the section 4.1.3.6 EPSON RC+ Master Configuration. RC620 Option Fieldbus I/O Rev.8...
  • Page 168 Problem exists. (Fix it.)  No Problem Check that power is supplied to all slaves. No problem Problem exists. (Fix it.)  No Problem Check for master unit configuration. No problem Finish Replace the master unit. RC620 Option Fieldbus I/O Rev.8...
  • Page 169 (2) Check that the configuration data were written in flash.  For details, refer to the section 4.1.3.6 EPSON RC+ Master Configuration. RC620 Option Fieldbus I/O Rev.8...

  • Page 170: Procedures For Examining Possible Causes

    (The resistance at the point where the terminating resistor is connected is 120Ω.) - Measure resistance at branch taps of all units. - The trouble point is where resistance changes from 120Ω. - After finding the trouble point, verify the connector and cable conditions. RC620 Option Fieldbus I/O Rev.8...
  • Page 171 (1) Three or more connectors and Short circuit terminating resistors branch taps with between signal wires tester. (2) Wrong terminating resistors, etc. Other Find the trouble point. (1) Unconnected or loose connector (2) Cable disconnection, etc. RC620 Option Fieldbus I/O Rev.8...
  • Page 172 Screw Mounting hole 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) RC620 Option Fieldbus I/O Rev.8...
  • Page 173 Power Supply Tap 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 174 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 175 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 176 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 177 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.) RC620 Option Fieldbus I/O Rev.8...
  • Page 178 4. Troubleshooting (DeviceNet) 4.1.3.6 EPSON RC+ Master Configuration For details of EPSON RC+ master configuration, refer to the section 2.5 DeviceNet Board Installation. The following section describes the procedure for verifying the scanner board condition with applicomIO Console application. Verifying applicomIO Console application condition The status bar at the bottom of the window shows the applicomIO Console application status.
  • Page 179 When the load exceeds 60%, the DeviceNet network communication will be unstable. (For example, more communication errors) For the procedure for master configuration, refer to respective master device manuals. For EPSON RC+ master configuration, refer to the section 2.5.5 Master Mode. RC620 Option Fieldbus I/O Rev.8...
  • Page 180 The CAN component of the applicomIO® interface is "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 RC620 Option Fieldbus I/O Rev.8...
  • Page 181 Indicates that a communication error has been encountered on serial 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 182 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. RC620 Option Fieldbus I/O Rev.8...

  • Page 183: 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. PCI-DPIO Configuration Port Jumper for Board Address...
  • Page 184 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 185: 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 186 ST: OFF Slave: BF: Red ON 4.2.2.1.4. Physical Error Other Master: BF: OFF 4.2.2.2. Data Link Error ST: Red ON Master: BF: OFF Uninitialized Network 4.2.2.3. ST: OFF Master: BF: Red ON Physical Error 4.2.2.4. Other RC620 Option Fieldbus I/O Rev.8...
  • Page 187 - 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 188  The trouble unit is not found. Rarely 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 189 Replace the unit with a new new one. one. → 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 190  The trouble unit is not found. Rarely 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 191 → 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 192 - Cable disconnection See 4.2.3.1 and 4.2.3.2. No problem The problem is fixed. Replace moving cable.  No Change (Replace deteriorated cable). No change Replace the unit.  No Normal Communication? Consult the PROFIBUS manufacturer. Finish RC620 Option Fieldbus I/O Rev.8...
  • Page 193  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. RC620 Option Fieldbus I/O Rev.8...
  • Page 194 →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. RC620 Option Fieldbus I/O Rev.8...
  • Page 195  The trouble unit is not found. Rarely 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 196 Replace the unit with a new one. new one. →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. RC620 Option Fieldbus I/O Rev.8...
  • Page 197 →After changing the configuration, verify whether the problem is fixed.  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. RC620 Option Fieldbus I/O Rev.8...
  • Page 198  The trouble unit is not found. Rarely 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 RC620 Option Fieldbus I/O Rev.8...
  • Page 199 Replace the unit with a one. new one. →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. RC620 Option Fieldbus I/O Rev.8...

  • Page 200: 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 201 (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. RC620 Option Fieldbus I/O Rev.8...
  • Page 202 Peel the cable covering and secure the cable with FG clamps. Secure clamps Turn ON the terminating resistor intermediate plate of the board at the end of the network. with screws to ground the shield. RC620 Option Fieldbus I/O Rev.8...
  • Page 203 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 204 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 205 390 Ω DGND (5) (3) Cable The cables should meet the PROFIBUS specifications. Item Property 135 to 165 Ω Impedance Capacity < 30 pf/m 110 Ω/km Loop resistance Wire diameter 0.64 mm Core cross-section > 0.34mm RC620 Option Fieldbus I/O Rev.8...
  • Page 206 4. Troubleshooting (PROFIBUS DP) 4.2.3.6 EPSON RC+ Master Configuration For details of EPSON RC+ master configuration, refer to the section 2.6 PROFIBUS DP Board Installation. The following section describes the procedure for verifying the scanner board condition with the applicomIO Console application.
  • Page 207 You can check the conditions of the following errors on this dialog. Token Error Address Error Timeout Error Frame Error Network Cycle Bus Fault When an error occurs on the network, it is added to the corresponding error counter. RC620 Option Fieldbus I/O Rev.8...
  • Page 208 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 209 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 bite number you want to change in [Output Mapping]. Then, enter a value in [Write] in the “Selected Output Value” and click <Write>. RC620 Option Fieldbus I/O Rev.8...

  • Page 210: Ethernet/Ip Troubleshooting

    2.6 EtherNet/IP Network Construction.) 4.3.1 Examining a Problem 4.3.1.1 Scanner Board Diagnostic LEDs The EtherNet/IP board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure. PCU-ETHIO 4-pin Terminal...
  • Page 211 Slave Slave 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) RC620 Option Fieldbus I/O Rev.8...

  • Page 212: Problems And Countermeasures

    The EtherNet/IP on Ethernet channel diagnostic information can be displayed by selecting the 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 213 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 214 Bytes transmitted 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 215 Number of requests. 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 216 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. RC620 Option Fieldbus I/O Rev.8...
  • Page 217 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.) RC620 Option Fieldbus I/O Rev.8...
  • Page 218 : 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 RC620 Option Fieldbus I/O Rev.8...

  • Page 219: Maintenance Parts List

    Slave Part Name Code DeviceNet board R12B040706 PROFIBUS-DP board R12B040707 CC-Link board R12B040708 EtherNet/IP board R12B040719 PROFINET board R12B040728 Master Part Name Code DeviceNet board R12B040701 PCI-DPIO R12B040702 PROFIBUS-DP board PCU-D2PIO R12N747191 EtherNet/IP board R12B040720 RC620 Option Fieldbus I/O Rev.8...
  • Page 220 5. Maintenance Parts List RC620 Option Fieldbus I/O Rev.8...

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