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EPSON RC170/180 Firmware Version 1.14.1.0 and 1.22.1.0

Copyright (c) 2006-2012, SEIKO EPSON CORP. All rights reserved.
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IMPORTANT ANNOUNCMENT
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Ver.1.14.0.1 -> Ver.1.14.1.0
Ver.1.22.0.3 -> Ver.1.22.1.0

C3 series C3-A601V/C3-A601P/C3-A601VR/C3-A601PR robots are available.
Fixed the problem AtHome signal is not valid in Home position sometimes.
Fixed the problem of LJM function.
Fixed the problem of BOX function.

Ver.1.14.0.0 -> Ver.1.14.0.1
Ver.1.22.0.2 -> Ver.1.22.0.3

Integrate one firmware for both type of controller with after S/N 10001 and before S/N 10001.
Fixed the problem AtHome signal is not valid in Home position sometimes. 
Fixed the problem that J1Flag can not change in narrow range setting. 
LimZ has margin 0.02mm. 


Ver.1.12.1.0 -> Ver.1.14.0.0
Ver.1.12.1.0 -> Ver.1.22.0.2

Support the RC+ USB connection in 64bit OS.
Support Remote RS232C function.
Support TP2. (only after S/N 10001 controller)
Support GUIBuilder option.


Ver.1.12.0.0 -> Ver.1.12.1.0

Nothing.



Ver.1.10.3.0 -> Ver.1.12.0.0

Supports the CV1 vision option.


Ver.1.10.2.0 -> Ver.1.10.3.0

S5 series S5-A701*W/S5-A901*W robots are available.
RS4 series RS4-551* robots are available.


Ver.1.10.1.2 -> Ver.1.10.2.0

Nothing.


Ver.1.10.0.0 -> Ver.1.10.1.2

Supports PROFINET.
S5 series S5-A701*R/S5-A901*R robots are available.


Ver.1.8.10.2 -> Ver.1.10.0.0

Supports the Robot Simulator.
Supports traditional Chinese and simplified Chinese.


Ver.1.8.9.0 -> Ver.1.8.10.2

S5 series S5-A701*/S5-A901* robots are available.


Ver.1.8.8.0 -> Ver.1.8.9.0

Nothing.


Ver.1.8.6.0 -> Ver.1.8.8.0

RS3 series RS3-551* robots are available.


Ver.1.8.5.2 -> Ver.1.8.6.0

Nothing.


Ver.1.8.4.0 -> Ver.1.8.5.2

G6 series G6-****-II robots are available.
G10 series G10-****-II robots are available.
G20 series G20-****-II robots are available.


Ver.1.8.3.0 -> Ver.1.8.4.0

G1 series G1-***** robots are available.


Ver.1.8.2.1 -> Ver.1.8.3.0

C3 series C3-A**** robots are available.


Ver.1.8.1.2 -> Ver.1.8.2.1

Nothing.


Ver.1.8.1.1 -> Ver.1.8.1.2

Fixed a problem that robot doesn't stop at TILL and shift the
robot's position in case that connects PTP motion and CP motion with CP
and TILL condition is effected before motion start.

e.g.)
Go P1 CP
Move P2 TILL

Ver.1.8.1.0 -> Ver.1.8.1.1

Fixed a problem in a recover motion after the safe guard open/close for G3 and RS3 series robots.


Ver.1.8.0.1 -> Ver.1.8.1.0

Nothing.


Ver.1.6.4.2 -> Ver.1.8.0.1

G3 series G3-**** robots are available.
RS3 series RS3-**** robots are available.


Ver 1.6.4.0 -> Ver.1.6.4.2

Nothing.


Ver 1.6.3.1 -> Ver.1.6.4.0

Nothing.


Ver 1.6.3.0 -> Ver.1.6.3.1

Fixed a problem where sometimes if a function or variable is usedin one program file but defined in another, the wrong function orvariable could be used.


Ver 1.6.2.0 -> Ver.1.6.3.0

G10 series G10-65*** robots are available.
G20 series G20-85*** robots are available.


Ver 1.6.1.1 -> Ver.1.6.2.0

G10 series G10-85*** robots are available.
G20 series G20-A0*** robots are available.


Ver 1.6.0.7 -> Ver.1.6.1.1

G10 series standard type robot G10-854S is available.


Ver 1.4.0.1 -> Ver.1.6.0.7

G6 series clean/IP type robots are available.
Approach check function is available.
LJM function is available.
OLAccel is available.
NoPause task and NoEmgAbort task are available.


Ver 1.2.0.6 -> Ver.1.4.0.1

G6 series standard type robots are available.


Ver 1.2.0.5 -> Ver.1.2.0.6

Nothing.


Ver 1.0.2.1 -> Ver 1.2.0.5

EtherNet/IP slave option is available.
Vision Guide 5.0 option is available.
French language setting is available.


Ver 1.0.2.0 -> Ver 1.0.2.1

German language setting is available.


Ver 1.0.1.9 -> Ver 1.0.2.0

Defect that caused a controller hang-up when a program was started many times
in the project that used point labels was revised. 


Ver 1.0.1.5 -> Ver 1.0.1.9

Nothing.


Ver 1.0.1.4 -> Ver 1.0.1.5

Trajectory tracking accuracy of CP motions has been modified.
Defect that increases residual vibration of PTP motion right after executing CP motion has been modified.


Ver 1.0.1.3 -> Ver 1.0.1.4

Failure, different from the original specification, 
was found in Jump command motion after executing 
LimZ command in firmware version 1.0.1.3 or earlier.
Note that the motion is modified to the original specification 
from firmware version 1.0.1.4. 

<Motion of version 1.0.1.3 or earlier>

LimZ -10	'Specify -10mm to LimZ parameter
Jump P0		'Rises up to Z=0 (Failure)

<Motion of version 1.0.1.4 or later>

LimZ -10	'Specify -10mm to LimZ parameter
Jump P0		'Rises only up to Z=-10 (Original specification)

