RC90 Upgrade Procedures

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1 RC90 Upgrade Procedures EM136R2547F Table of Contents Thank you for purchasing our robot system. Before using the robot system, please read this manual thoroughly and use the product properly. Keep this manual handy for easy access at all times and reread it if there is anything unclear. RC90 Upgrade Procedures... 1 Table of Contents Overview Backup the Previous Version Controller status storage Saving the robot calibration data Replacing the CF Removing the CF for the previous RC90 Controller Installing the CF for the new RC90 Controller Label Setting Up to the New Version Connection check with the EPSON RC Importing a project Robot configuration [System Configuration] settings Installing controller options RC90 Upgrade report Sheet SUPPLIERS Rev.1 1

2 1. Overview RC90 Controllers have following two firmware versions. A: Firmware Ver.3.x.x.x applied to EPSON RC+5.0 (hereinafter called the previous RC90 ) B: Firmware Ver or later applied to EPSON RC+7.0 (hereinafter called the new RC90 ) NOTE NOTE Firmware versions cannot be switched between A and B using the firmware installer. It is also not possible to restore backup data of A to B or restore backup data of B to A. Firmware version can be upgraded from A to B by replacing the CF of RC90 Controller. This manual describes how to upgrade firmware from A to B. 2. Backup the Previous Version To restore the system in cases of the improper configuration or controller failure, make sure to back up the latest controller status. For details on how to save the Controller status, refer to the descriptions below. 2.1 Controller status storage (1) Prepare the development PC and install the EPSON RC For details on how to install software, refer to the following manual: EPSON RC+ 5.0 User s Guide Appendix A: Software Installation (2) Connect the Controller and the development PC using a USB (or an Ethernet) cable. (3) Turn ON the Controller. (4) Run the EPSON RC Click the tool bar menu <Setup PC to Controller Communications> button to open the [PC to Controller Communications] dialog box. (5) Select USB. If you used an Ethernet cable in step (2), select Ethernet1. (6) Click the <Connect> button. (7) Click the <Close> button to close the [PC to Controller Communications] dialog box. 2 Rev.1

3 (8) Select [Tools]-[Controller] to display the [Controller Tools] dialog box. (9) Click the <Export Controller Status > button to open the [Browse For Folder] dialog box. (10) Select the folder to save data and click the <OK> button. A new folder where the current controller status is saved will be created. The folder name is represented in the form of S_ followed by Controller serial number and current date and time. 2.2 Saving the robot calibration data When the calibration data is saved, a file with the.mpd extension is created. This file contains Hofs and Calpls values. To save the file, follow the steps below. (1) Select [Setup]-[Controller] to display the [Setup Controller]. (2) Select [Robot]-[Configuration] from the menu tree. Check if the robot serial number is correct. The serial number will be used for the default file name. (3) Select the menu tree-[robot]-[calibration] and click the <Save> button. (4) Select the target directory and click the <Save> button. Rev.1 3

4 3. Replacing the CF To upgrade firmware, it is necessary to replace the CF with the new one which is compatible with the new RC90 Controller version. Warning When replacing the CF, make sure to turn OFF the Controller and unplug the power plug in order to discharge the high-voltage charger. Performing maintenance while the Controller power is ON or the high-voltage charger is not discharged may result in electric shock and/or cause serious safety problems. 3.1 Removing the CF for the Previous RC90 Controller (1) Turn OFF the Controller. (2) Remove the top plate. (mounting screws 10) (3) Remove the CF mounting screws. (4) Remove the CF for the previous RC Installing the CF for the new RC90 Controller (1) Install the CF for the new RC90. (2) Install the CF mounting screws. (3) Install the top plate. (4) After plugging the power plug, turn ON the Controller. Check if the Controller runs normally without oscillation and abnormal sound. CAUTION If you put the CF for the previous RC90 back to the Controller after running it with the CF for the new RC90, the controller serial number may be lost. After switching to the CF for the new RC90, do not use the one for the previous RC90. 4 Rev.1

5 3.3 Label After replacing the CF, attach the label shown below to the location indicated by an arrow in the figure to indicate whether the Controller is old or new. Rev.1 5

6 4. Setting Up to the New Version Backup data of the previous RC90 Controller cannot be restored to the new RC90 Controller. Therefore, it is necessary to manually configure the new RC90 Controller in the same way as the previous RC90. Follow the steps below to configure the Controller. 4.1 Connection check with the EPSON RC+ 7.0 The new RC90 Controller can be used with a combination with the EPSON RC EPSON RC+ 7.0 RC90 controller firmware Ver or later Before Ver.7.0.1!!! Ver or later OK OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are available.!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver or later. Follow the steps below to check connection. (1) Install the EPSON RC+ 7.0 to the development PC in which the EPSON RC+5.0 is installed. For details on how to install software, refer to the following manual: EPSON RC+ 7.0 User s Guide Appendix A: Software Installation (2) Connect the Controller and the development PC using a USB (or an Ethernet) cable. (3) Turn ON the Controller. (4) Run the EPSON RC Select the menu-[setup]-[setup PC to Controller Communications] to display the [PC to Controller Communications] dialog box. (5) Select USB. If you used an Ethernet cable in step (2), select Ethernet1. (6) Click the <Connect> button. (7) Click the <Close> button to close the [PC to Controller Communications] dialog box. 6 Rev.1

7 4.2 Importing a project This section describes how to import a project using the wizard and how to convert the EPSON RC+ 5.0 project into the EPSON RC+7.0 format. (1) Select EPSON RC+ 7.0 menu-[project]-[import] to display the [Import Project] dialog box. (2) Select <PC> and click the <Next> button. (3) Select EPSON RC+ 5.x in the [Project Type] box. (4) Select the drive to import a project in [Select Drive] box. After you select the project type and the drive, the project list will be updated to show the available projects. (5) Select the project to be imported in the [Select Project To Import] list and click the <Next> button. NOTE If the project cannot be found, run the EPSON RC+ 5.0 and import the project from the Controller status data saved with the previous RC90. For details on how to import the project from the Controller status data, refer to the following manual: EPSON RC+ 7.0 User s Guide [Import] Command (Project Menu) Rev.1 7

8 (6) The name of the imported project is shown in the [Destination Project Name]. (The project name can be changed.) (7) Select the destination in [Destination Drive] box. (8) Select the folder to import the project in [Select Project Folder], and then click the <Next> button. (9) Check the Import Source, Import Project, and Destination Project. (10) Check [Open Destination Project After Import] if you want to open the project after import. (11) Click the <Import> button. If the destination project already exists, you will be asked if you want to overwrite it. 8 Rev.1

9 4.3 Robot configuration Adding a robot Add a robot configured for the previous RC90 Controller. (1) Select the EPSON RC+ 7.0 menu-[setup]-[system Configuration]. (2) Click [Robots] in the menu tree. (3) Click the <Add> button to display the [Add New Robot]. (4) Type in a name of the new manipulator and enter the serial number on the manipulator s nameplate. Any serial number can be input, but it is recommended to use the number that is stamped on the nameplate. (5) Configure the following items. [Motion System] : Standard [Drive Unit] : CU [Robot type] : Scara [Series] : LS3 or LS6 [Model] : Manipulator model configured with the previous RC90 (6) Click the <OK> button and reboot the Controller. Rev.1 9

10 4.3.2 Loading the robot calibration data This section describes how to load the data stored in 2.2 Saving the Robot Calibration Data. (1) Select the menu-[setup]-[system Configuration] to display the [System Configuration] dialog box. (2) Select the menu tree-[robot]-[robot**]-[calibration]. (3) Click the <Load Cal > button to display the [Load Robot Calibration] dialog box. (4) Select the MPD file saved with the previous RC90 and click the <Open> button. (5) Confirm that the values are reflected, and then click the <Apply> button. 10 Rev.1

11 4.3.3 Setting the robot parameters Robot parameters (following items) are initialized when the manipulator is added. Change the settings as needed. Arch setting (Arch) Local setting (Locals) Tool setting (Tools) Additional Arm setting (Arms) External control point setting (ECP) Approach check area setting (Boxes) Approach check plane setting (Planes) Hand weight setting (Weight) Hand inertia setting (Inertia) Allowable motion envelop setting (XYZ Limits) Motion range setting (Range) Home position setting (Home Config) For details on how to change the settings, refer to the following manual. EPSON RC+ 7.0 User s Guide [Robot Manager] Command (Tools Menu) Rev.1 11

12 To see the robot parameters for the previous RC90, follow the steps below. (1) Run the EPSON RC (2) Select [Tools]-[Controller] to display the [Controller] dialog box. (3) Click <View Controller Status> button to open the [Browse For Folder] dialog box. (4) Select the folder created in 2.1 Controller Status Storage. (5) Click the <OK> button to display the [Controller Status Viewer] dialog box. (6) Select Robot from the menu tree. 12 Rev.1

13 4.4 [System Configuration] settings Following system configuration items other than manipulator settings are initialized. Change the settings as needed. Configuration Controller Name IP Address Subnet Mask Default Gateway USB Speed Control Device TP Password Preferences Simulator Inputs / Outputs (including Fieldbus I/O settings) Remote Control RS232C TCP/IP For details on how to change the settings, refer to the following manual. EPSON RC+ 7.0 User s Guide [System Configuration] Command (Setup Menu) 4.5 Installing controller options Controller options configured for the previous RC90 Controller need to be reconfigured for the new RC90 Controller. Follow the steps below to enable the options. (1) Menu-[Setup]-[Options] to display the [Options] dialog box. (2) Check (and record) the controller options key code. (3) Contact your distributor and give them the options key code to obtain the code for enabling the desired option. (4) Select the option you want to enable, and then click the <Enable> button. Rev.1 13

14 (5) Enter the code you received from your distributor correctly. The key code is case sensitive. 14 Rev.1

15 RC90 Upgrade Report Sheet Company: Address: Contact Person: CUSTOMER DETAILS TEL: FAX: Connection Method: FAX Mail MANIPULATOR / CONTROLLER INFORMATION Manipulator Model: LS3 / LS6 Serial No: Controller Model: RC90 Serial No: HOFS: J1: Options Key Code: J2: J3: J4: If you purchased options, fill in the key codes below. We will contact you with the new License Enable Codes MANIPULATOR / CONTROLLER INFORMATION Manipulator Model: LS3 / LS6 Serial No: Controller Model: RC90 Serial No: HOFS: J1: Options Key Code: J2: J3: J4: If you purchased options, fill in the key codes below. We will contact you with the new License Enable Codes MANIPULATOR / CONTROLLER INFORMATION Manipulator Model: LS3 / LS6 Serial No: Controller Model: RC90 Serial No: HOFS: J1: Options Key Code: J2: J3: J4: If you purchased options, fill in the key codes below. We will contact you with the new License Enable Codes MANIPULATOR / CONTROLLER INFORMATION Manipulator Model: LS3 / LS6 Serial No: Controller Model: RC90 Serial No: HOFS: J1: Options Key Code: J2: J3: J4: * Destination: Please send this sheet to the person in charge of each sales company. If you purchased options, fill in the key codes below. We will contact you with the new License Enable Codes RC90 Upgrade Procedures Rev.1 Appendix A: RC90 Upgrade Report Sheet

16 SUPPLIERS North & South America Europe China Taiwan Southeast Asia India Korea Japan EPSON AMERICA, INC. Factory Automation/Robotics Central Avenue Carson, CA USA TEL : FAX : EPSON DEUTSCHLAND GmbH Factory Automation Division Otto-Hahn-Str.4 D Meerbusch Germany TEL : +49-(0) FAX : +49-(0) EPSON China Co., Ltd Factory Automation Division 7F, Jinbao Building No. 89 Jinbao Street Dongcheng District, Beijing, China, TEL : +86-(0) FAX : +86-(0) EPSON Taiwan Technology & Trading Ltd. Factory Automation Division 14F, No.7, Song Ren Road, Taipei 110, Taiwan, ROC TEL : +886-(0) FAX : +886-(0) EPSON Singapore Pte Ltd. Factory Automation System 1 HarbourFrontPlace, #03-02 HarbourFront Tower one, Singapore, TEL : +65-(0) FAX : +65-(0) EPSON Korea Co., Ltd. Marketing Team (Robot Business) 27F DaeSung D-Polis A, 606 Seobusaet-gil, Geumcheon-gu, Seoul, , Korea TEL : +82-(0) FAX : +82-(0) EPSON SALES JAPAN CORPORATION Factory Automation Systems Department Nishi-Shinjuku Mitsui Bldg Nishishinjuku, Shinjuku-ku, Tokyo, , JAPAN TEL : +81-(0) Appendix A: RC90 Upgrade Report Sheet RC90 Upgrade Procedures Rev.1

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