安全篇
1. 關于安全 3
2. 關于正文中的符號 3
3. 安全注意事項 4
功能篇
1. 規格 9
1.1 系統構成示例.............................................................................9
1.2 規格表.....................................................................................10
1.3 外形尺寸..................................................................................12
2. 各部位名稱和功能 13
2.1 LED & 7段LED.......................................................................16
2.1.1 LED & 7段LED的顯示......................................................16
2.1.2 特殊狀態顯示...................................................................17
2.2 安全相關功能...........................................................................18
3. 設置 20
3.1 同捆物.....................................................................................20
3.2 設置條件..................................................................................20
3.2.1 設置環境.........................................................................20
3.2.2 設置方法與空間..............................................................21
3.3 電源.........................................................................................22
3.3.1 電源規格.........................................................................22
3.3.2 AC電源電纜....................................................................23
3.4 電纜連接..................................................................................24
3.4.1 連接示例.........................................................................24
3.4.2 控制器與機械手的連接...................................................26
3.5 抗干擾措施要點.......................................................................27
4. 操作模式 (TEACH, AUTO, TEST) 28
4.1 操作模式概要...........................................................................28
4.2 操作模式的切換.......................................................................29
4.3 程序模式 (AUTO)....................................................................30
4.3.1 什么是程序模式 (AUTO)？............................................30
4.3.2 從EPSON RC+ 的設定..................................................30
4.4 自動運轉模式 (AUTO)............................................................31
4.4.1 什么是自動運轉模式 (AUTO)？.....................................31
4.4.2 從EPSON RC+ 的設定..................................................31
4.4.3 控制設備的設定.............................................................32
5. 開發用PC連接專用USB端口 33
5.1 什么是開發用PC連接專用USB端口？.....................................33
5.2 注意事項.................................................................................34
5.3 通過開發用PC連接專用USB端口連接PC與控制器.....................................................................................34
5.4 切斷開發用PC與控制器的連接................................................35
5.5 USB電纜固定方法...................................................................35
6. 存儲器端口 36
6.1 什么是控制器設定備份？........................................................36
6.2 使用控制器設定備份功能之前.................................................36
6.2.1 注意事項........................................................................36
6.2.2 可使用的USB存儲器......................................................36
6.3 控制器設定備份功能的使用.....................................................37
6.3.1 通過觸發按鈕進行控制器設定備份.................................37
6.3.2 通過EPSON RC+ 7.0讀取數據.....................................37
6.3.3 通過電子郵件轉發..........................................................37
6.4 保存數據詳情..........................................................................38
7. LAN（Ethernet通信）端口 39
7.1 什么是LAN（Ethernet通信）端口？.......................................39
7.2 關于IP地址..............................................................................39
7.3 控制器IP地址的變更步驟........................................................40
7.4 通過以太網連接開發用PC和控制器........................................41
7.5 切斷通過以太網進行的開發用PC和控制器之間的連接............42
8. TP端口 43
8.1 什么是TP端口？.....................................................................43
8.2 示教盒的連接..........................................................................43
9. EMERGENCY 44
9.1 安全門開關與閂鎖解除開關的連接..........................................44
9.1.1 安全門開關.....................................................................44
9.1.2 閂鎖解除開關.................................................................45
9.1.3 開關功能的確認..............................................................45
9.2 緊急停止開關的連接................................................................46
9.2.1 緊急停止開關.................................................................46
9.2.2 緊急停止開關的功能確認.................................................46
9.2.3 從緊急停止狀態恢復.......................................................46
9.3 信號配置..................................................................................47
9.4 電路圖和配線示例...................................................................48
9.4.1 例1：連接外部緊急停止開關時.....................................48
9.4.2 例2：連接外部安全繼電器時.........................................49
10. 標準RS-232C端口 50
10.1 關于RS-232C端口.................................................................50
10.2 通過EPSON RC+ 7.0進行確認 (RS-232C)..........................50
10.3 通信設定 (RS-232C).............................................................51
10.4 通信電纜 (RS-232C).............................................................51
11. I/O連接器 52
11.1 輸入電路................................................................................52
11.2 輸出電路................................................................................54
11.3 信號配置................................................................................56
12. I/O遠程設定 57
12.1 輸入輸出信號的功能..............................................................57
12.1.1 輸入................................................................................58
12.1.2 輸出................................................................................61
12.2 時序圖...................................................................................63
12.2.1 輸入信號相關注意事項...................................................63
12.2.2 動作執行時序.................................................................63
12.2.3 程序執行時序.................................................................63
12.2.4 安全門輸入時序..............................................................64
12.2.5 緊急停止時序.................................................................64
13. R-I/O連接器 65
13.1 輸入電路...............................................................................65
13.2 信號配置...............................................................................66
14. 選件插槽 67
14.1 什么是選件插槽？.................................................................67
14.2 擴展I/O電路板.......................................................................67
14.2.1 關于擴展I/O電路板.......................................................67
14.2.2 電路板的設定（擴展I/O電路板）.................................67
14.2.3 通過EPSON RC+ 7.0 進行確認（擴展I/O電路板）.....68
14.2.4 輸入電路（擴展I/O電路板）........................................68
14.2.5 輸出電路（擴展I/O電路板）........................................70
14.2.6 信號配置（擴展I/O電路板）........................................73
14.3 場總線I/O電路板.....................................................................77
14.4 RS-232C電路板....................................................................78
14.4.1 關于RS-232C電路板......................................................78
14.4.2 電路板的設定 (RS-232C)..............................................78
14.4.3 通過EPSON RC+ 進行確認 (RS-232C).......................79
14.4.4 通信設定 (RS-232C).....................................................79
14.4.5 通信電纜 (RS-232C).....................................................80
14.5 PG電路板..............................................................................80
維護篇
1. 維護時安全相關注意事項 83
2. 定期檢查 85
2.1 檢查日程.................................................................................85
2.2 檢查項目.................................................................................86
2.2.1 電源OFF時的檢查............................................................86
2.2.2 電源ON時的檢查.............................................................86
3. 控制器內部結構 87
3.1 部件配置.................................................................................87
3.2 電纜連接圖..............................................................................87
4. 備份與恢復 88
4.1 什么是控制器設定備份？.........................................................88
4.2備份數據....................................................................................88
4.3 備份.........................................................................................89
4.4 恢復.........................................................................................90
5.固件升級 92
5.1 關于固件升級...........................................................................92
5.2 固件版本升級步驟...................................................................92
5.3 控制器的恢復...........................................................................95
5.4 固件初始化安裝步驟................................................................96
6. 維護零件更換步驟 98
6.1 風扇過濾器..............................................................................98
6.2 風扇.........................................................................................99
6.3 蓄電池...................................................................................100
6.4 CF（小型閃光燈）................................................................101
6.5 MDB......................................................................................102
6.6 DMB......................................................................................104
6.7 DMB-SUB板..........................................................................108
6.8 DMB-LED板..........................................................................109
6.9 DMB-LED板..........................................................................110
7. 機器人系統的動作確認 111
8. 故障排除 112
8.1 錯誤代碼表............................................................................112
8.2 即使用USB電纜連接開發用PC與控制器仍無法通信時........................................................................177
8.2.1 通過Windows設備管理器進行確認...............................178
8.2.2 在Windows設備管理器識別到“其他設備”時.................................................180
8.3 咨詢時的檢查清單...................................................................181
9. 維護零件清單 183
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