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Robot Controller RC700 / RC90 Option PG Motion System Rev.2 Copyright 2012-2013 SEIKO EPSON CORPORATION. All rights reserved. RC700 / RC90 Option PG Motion System Rev.2...
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3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. RC700 / RC90 Option PG Motion System Rev.2...
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- Your controller model and its serial number - Your manipulator model and its serial number - Software and its version in your robot system - A description of the problem SERVICE CENTER RC700 / RC90 Option PG Motion System Rev.2...
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Marketing Team (Robot Business) 11F Milim Tower, 825-22 Yeoksam-dong, Gangnam-gu, Seoul, 135-934 Korea : +82-(0)-2-3420-6692 : +82-(0)-2-558-4271 Japan EPSON SALES JAPAN CORPORATION Factory Automation Systems Department Nishi-Shinjuku Mitsui Bldg.6-24-1 Nishishinjuku.Shinjuku-ku.Tokyo.160-8324 JAPAN : +81-(0)3-5321-4161 RC700 / RC90 Option PG Motion System Rev.2...
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The validity of the data is not completely checked or adjusted. If improper settings are used, the robot may move unexpectedly. The unexpected movement of the robot is extremely hazardous and may cause damage to the robot and/or peripheral equipment. RC700 / RC90 Option PG Motion System Rev.2...
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Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.0.2 or later. NOTE This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without the label. NOTE Manual PDF for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2...
The PG Motion System supports up to 4 PG boards for RC700 and 2 PG boards for RC90. Each board has four channels, which allows a total of sixteen joints for RC700 and eight joints for RC90.
1.3.2 Software Setup Overview Refer to Chapter 3, Software for the following instructions: (1) Create one or more PG robots in the EPSON RC+ system configuration. (2) Test each PG robot and verify that all safety features are operating properly.
Description Board Name H756 Compatible Controller RC700 / RC90 Expansion Capability RC700: 4 boards maximum / RC90: 2 boards maximum Control Axes 4 axes per board Target Motor Either servo motors or stepper motors can be used. Output Pulse Rate 0.1 pps to 6.5 Mpps...
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5 V ±5 % 1.0 A (max.) 24 V ±2 V 200 mA (max.) (from the external power source) PG Robot Limitations Refer to the section 3.4 Using PG robots in EPSON RC+ RC700 / RC90 option PG motion system Rev.2...
If you use the PG board for the conveyor tracking, use another address for the PG board of the PG motion system. For example, if the PG board 1 is used for the conveyor tracking, then use the PG board 2 for the PG motion system. RC700 / RC90 option PG motion system Rev.2...
Remove the open slot panel at the front of the Controller. Install the PG board and secure it with screws. For details, refer to the instruction sheet attached to the board. Once the board is installed, refer to the section 3.1 Creating PG Robots in EPSON RC+ for software installation and settings.
The signal is OFF when controller is launched. It turns OFF automatically when any one of the joints within a manipulator indicates either a servo error or limit switch related errors. RC700 / RC90 option PG motion system Rev.2...
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GND. In this case, SPEL does not check that the servo drive's positioning is completed. Therefore, after the operation command is executed, use the time delay necessary for positioning to be complete in your application. RC700 / RC90 option PG motion system Rev.2...
Connect to Line driver RS422 Conforming +ZORG 220 Ω 26C31 -ZORG 26C32 equivalent equivalent Board Drive This terminal must be connected when an Encoder Z Phase signal is used as the origin signal. RC700 / RC90 option PG motion system Rev.2...
When the servo driver counter reset input is +24V interface, refer to the connection example below. EXTV + DRST COM 1.65kΩ DRST Output Current Maximum External power 50 mA 24 V supply (Vce=under 2 V) EXTVGND Board Drive RC700 / RC90 option PG motion system Rev.2...
AC motor (an induction motor, a 3-phase induction motor, etc.) requires an appropriate spark suppressor between lines. The closer the suppressor is to the motor, the more effective the noise suppression. RC700 / RC90 option PG motion system Rev.2...
DX31A-100P (for AWG#28) Soldered type DX40-100P Connector for Wiring to the Cover DX30M-100-CV1 If you are using the optional cable, refer to section 2.4.4 PG Terminal Block Pin Outs later in this chapter. RC700 / RC90 option PG motion system Rev.2...
In DEND1 Detection End signal for Axis #1 In DEND3 Detection End signal for Axis #3 − − − − Not used Not used − − − − Not used Not used RC700 / RC90 option PG motion system Rev.2...
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Permissible Working Range and pulse generation will be stopped. Therefore, you must connect to an external power source so that the limit signal(s) will remain ON when your system configuration does not use limit signals. RC700 / RC90 option PG motion system Rev.2...
Origin signal for Axis #1 49 (8) ORG2 Origin signal for Axis #2 External power supply for Input External power supply GND for 25 (14) EXTV 50 (64) EXTVGND circuit Input circuit RC700 / RC90 option PG motion system Rev.2...
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Origin signal for Axis #3 49 (58) ORG4 Origin signal for Axis #4 External power supply for Input External power supply GND for 25 (15) EXTV 50 (65) EXTVGND circuit Input circuit RC700 / RC90 option PG motion system Rev.2...
Output Circuit - DRST. *2 : If the current limiting resistance of input circuit on the driver side is 150Ω or less, ensure more than 150Ω with the external resistor. External power source RC700 / RC90 option PG motion system Rev.2...
The function of this input is same as for a standard robot. For more Safety Features, refer to the Robot Controller manual or the Safety Chapter in the EPSON RC+ User’s Guide. RC700 / RC90 option PG motion system Rev.2...
■ Always take anti-surge measures for coils (electromagnetic contactors, relays, etc.) or contacts. If anti-surge measures are not taken, a reverse current may flow. The reverse current may cause damage to peripheral CAUTION equipment. RC700 / RC90 option PG motion system Rev.2...
1 PG board for conveyor tracking, and then add a board for PG motion, that board will be #2. To create a PG robot in EPSON RC+, follow these steps: (1) Turn on the Controller and launch EPSON RC+.
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In case of the Joint type robot with more than 5 joints, select also “PG board B”. (5) Click the OK and reboot the controller. (6) After the controller is rebooted, a PG robot is added to EPSON RC+. RC700 / RC90 option PG motion system Rev.2...
■ Set PG robot parameters with extra caution. If parameters are set improperly, the robot may move unexpectedly. unexpected movement of the robot is extremely hazardous and may cause CAUTION damage to the robot and / or peripheral equipment. RC700 / RC90 option PG motion system Rev.2...
The value must be an integer in the range of 1 to 100. Mcal Speed This parameter sets the speed when MCAL is executed, specified by percentage of maximum speed. The value must be an integer in the range of 1 to 100. RC700 / RC90 option PG motion system Rev.2...
Specify this parameter so that MCAL is completed within 120 seconds. If the calibration of each joint is not completed within 120 seconds during MCAL execution, then error 4083: MCAL did not complete in time will occur. 3.2.3 PG parameter Joint RC700 / RC90 option PG motion system Rev.2...
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The Calibration Type specifies the calibration method used to calibrate the mechanical origin. There are seven calibration types 0, 1, 2, 3, 4, 5 and 10. For details of each type, refer to 4. Calibration Types. RC700 / RC90 option PG motion system Rev.2...
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MCORDR command. When you click Default button in the Tool | Robot manager | Mcal Order, these values will be used. For the details, refer to 3.3.4 [Mcal Order]. RC700 / RC90 option PG motion system Rev.2...
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Set the relation of the direction of the motor rotation and the pulse values (coordinate values) in SPEL+. Select Same or Reverse from the drop-down list. Same As physical encoder values increase, SPEL+ pulse values increase. Reverse As physical encoder values increase, SPEL+ pulse values decrease. RC700 / RC90 option PG motion system Rev.2...
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Also, it can prevent the triangle drive in small distance motions. Z Joint Specify the joint designated as Z-joint (vertical operation joint) when the JUMP command is executed in SPEL+. For Cartesian robots, the Z joint is fixed at joint #3. RC700 / RC90 option PG motion system Rev.2...
(3) Select the desired PG robot from the list of Robot, and then select a PG parameter. (4) Click the button. (5) Browse to the desired location and enter the desired filename. (6) Click the button. RC700 / RC90 option PG motion system Rev.2...
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(3) Select the desired PG robot from the list of Robot, and then select a PG parameter. (4) Click the button. (5) Browse to the desired location and select the desired filename. (6) Click the button. The parameters are now loaded. RC700 / RC90 option PG motion system Rev.2...
This is used to control the robot motors and power, jog robots, teach points, and view/edit severeal parameters for the robot. For the details, refer to EPSON RC+ Users Guide: 5.11.1 [Robot Manager Command] (Tools Menu). This section describes an instruction for the PG robot parameter setting.
HORDR command. Click the button if you want to load the default values set in the section 3.2.3 PG parameter Joint. RC700 / RC90 option PG motion system Rev.2...
Step 1 through Step 4. In the illustrated example, the Joint #2 will be calibrated to the origin position after Joint #1 is calibrated and moved to the origin position. RC700 / RC90 option PG motion system Rev.2...
PG robots behave similar to standard robots. You use Robot Control Panel, Jog & Teach, Point Editor, etc. the same as you would with standard robots. Refer to the EPSON RC+ User's Guide for details on using the GUI and program development.
PG robots are not directly supported in Dry Run. For PG robots to be used, the PG board hardware must exist on the system. If you enable Dry Run in EPSON RC+, the PG robots will continue to operate from the hardware.
3.4.7 PG Signal Status Display Input and output status of the PG board can be displayed on the EPSON RC+ GUI. When the PG robot is selected, open the [I/O Monitor] of the EPSON RC and select [PG Status] tab.
Longer Longer 4 or 5 Longest 4 or 5 Longest Shortest *1: A is highest accuracy followed by B and then C. *2: Complete the calibration of each joint within 120 seconds. RC700 / RC90 option PG motion system Rev.2...
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Pause for delay time as specified in Scan Delay on Calibration tab of the PG Robot Configuration dialog. Pause for delay time as specified in Jog Delay on Calibration tab of the PG Robot Configuration dialog. RC700 / RC90 option PG motion system Rev.2...
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Cal Type 10 NORG Signal width : 1 msec or over The interval between the NORG signal edge and ORG signal edge must be sufficient to enable the robot to stop by deceleration. RC700 / RC90 option PG motion system Rev.2...
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NOTE System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
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The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
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The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
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The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
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The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
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NORG ( ↑ ) is detected: NORG NORG ORG = HIGH (sensor: OFF) ORG = LOW (sensor: ON) when the NORG ( ↑ ) is detected. when the NORG ( ↑ ) is detected. RC700 / RC90 option PG motion system Rev.2...
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The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
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NORG ( ↑ ) detected: NORG NORG ORG = HIGH (sensor: OFF) ORG = LOW (sensor: ON) when the NORG ( ↑ ) is detected. when the NORG ( ↑ ) is detected. RC700 / RC90 option PG motion system Rev.2...
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The above motion direction is subject to and affected by the Direction parameter in the System Configuration | Robot. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected. RC700 / RC90 option PG motion system Rev.2...
Check the wiring and correct if necessary. Encoder signal is incorrect between the drive and motor. The gain setting on the drive is not Reset the gain properly by referring to the appropriate for the load. drive’s manual. RC700 / RC90 option PG motion system Rev.2...
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Set the gain properly by referring to the appropriate for the load. drive’s manual. The drive is outputting the alarm signal. Find out the cause and cancel that situation by referring to the drive’s manual. RC700 / RC90 option PG motion system Rev.2...
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Connect the DEND input to GND to disable because the servo motor’s joint is wait for positioning. interfering with an obstacle. It is possible that the servo motor’s enforcing operation obstructs the positioning. RC700 / RC90 option PG motion system Rev.2...
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Solution The calibration of each joint was not Refer to the section completed within 120 seconds during 3.2.2 PG Parameters MCAL execution. 3.3.4 [Mcal Order] and check the settings of the Manipulator. RC700 / RC90 option PG motion system Rev.2...