WEINTEK Epson Robot Controller User Guide

पॅरामीटर्स	शिफारस केली	पर्याय	नोट्स
पीएलसी प्रकार	Epson Robot Controller
PLC I/F	इथरनेट
बंदर क्र.	5000		*टीप
टर्मिनेटर	सीआरएलएफ	CRLF / CR / LF

नोंद: Make sure that the communication port does not conflict with other devices

डिव्हाइस पत्ता

The address and range of different controller models may be different.

बिट/शब्द	डिव्हाइस प्रकार	स्वरूप	श्रेणी	मेमो
B	लॉगिन करा	D	0	Set 1 (Initialization)
B	बाहेर पडणे	D	0
B	थांबा	D	0
B	विराम द्या	D	0
B	सुरू ठेवा	D	0
B	रीसेट करा	D	0
B	मोटार	DD	1 ~ 16	Motor on/off No.1 ~ 16 Robot
B	IN_BIT	DDDDD	0 ~ 65535
B	OUT_BIT	DDDDD	0 ~ 65535
B	MEMIO_BIT	DDDDD	0 ~ 65535
B	STATUS_TEST	D	0
B	STATUS_TEACH	D	0
B	STATUS_AUTO	D	0
B	STATUS_WARNING	D	0
B	STATUS_SERROR	D	0
B	STATUS_SAFEGUARD	D	0
B	STATUS_ESTOP	D	0
B	STATUS_ERROR	D	0
B	स्थिती_विराम	D	0

बिट/शब्द	डिव्हाइस प्रकार	स्वरूप	श्रेणी	मेमो
B	स्थिती_चालू	D	0
B	STATUS_READY	D	0
B	ABORT	D	0
B	STAT_BIT	DDD	0 ~ 331	*टीप 2
B	RBTINF_BIT	DDD	0 ~ 531	*टीप 3
B	पॉवर	D	0	On: High / Off: Low
B	CTRLINF_BIT	डीडीडीडी	0 ~ 1031	*टीप 4
B	ATCLR	D	1 ~ 9	Clears and initializes the average torque
B	PTCLR	D	1 ~ 9	Clears and initializes the peak torque
B	IO_MAP_BIT	D	0	*टीप 9
B	कन्सोल	D	0	*टीप 11
B	+X_TOOL	D	0
B	-X_TOOL	D	0
B	+Y_TOOL	D	0
B	-Y_TOOL	D	0
B	+Z_TOOL	D	0
B	-Z_TOOL	D	0
B	+U_TOOL	D	0
B	-U_TOOL	D	0
B	+V_TOOL	D	0
B	-V_TOOL	D	0
B	+W_TOOL	D	0
B	-W_TOOL	D	0
B	+X_WORLD	D	0
B	-X_WORLD	D	0
B	+Y_WORLD	D	0
B	-Y_WORLD	D	0
B	+Z_WORLD	D	0
B	-Z_WORLD	D	0
B	+U_WORLD	D	0
B	-U_WORLD	D	0
B	+V_WORLD	D	0
B	-V_WORLD	D	0
B	+W_WORLD	D	0
B	-W_WORLD	D	0
B	+J1	D	0

बिट/शब्द	डिव्हाइस प्रकार	स्वरूप	श्रेणी	मेमो
B	-J1	D	0
B	+J2	D	0
B	-J2	D	0
B	+J3	D	0
B	-J3	D	0
B	+J4	D	0
B	-J4	D	0
B	+J5	D	0
B	-J5	D	0
B	+J6	D	0
B	-J6	D	0
B	HAND_POS	D	0
B	कोपर	D	0
B	मनगट	D	0
W	LOGINPASS	D	0 ~ 8	ASCII *Note1
W	सुरू करा	D	0
W	CURROBOT	D	0	Read: Display Robot Write: Select Robot
W	घर	D	0	Target Robot
W	IN_WORD	डीडीडीडी	0 ~ 4095
W	OUT_WORD	डीडीडीडी	0 ~ 4095
W	MEMIO_WORD	डीडीडीडी	0 ~ 4095
W	STATUS_ERROR_CODE	D	0
DW	STAT	D	0 ~ 3	*टीप 2
DW	RBTINF	D	0 ~ 5	*टीप 3
W	IO_LABEL	DDDDDDDDD	0 ~	ASCII *Note4
W	SYSERR	D	0 ~ 1	0: Error code 1: Warning code
DW	CTRLINF	DD	0 ~ 10	*टीप 4
DW (float)	RBTW	D	1 ~ 9	X, Y, Z, U, V, W, R, S, T
DW (float)	RBTJ	D	1 ~ 9	1,2,3,4,5,6,7, S, T
W	RBTP	D	1 ~ 9	1,2,3,4,5,6,7, S, T
W	वेग	D	0 ~ 2	*टीप 5
W	ACCEL	D	0 ~ 5	*टीप 6
DW (float)	REALTRQ	D	1 ~ 9	Joint Number
DW (float)	ATRQ	D	1 ~ 9	Joint Number
DW (float)	PTRQ	D	1 ~ 9	Joint Number
DW (float)	QLRATE	D	1 ~ 9	Joint Number

बिट/शब्द	डिव्हाइस प्रकार	स्वरूप	श्रेणी	मेमो
W	CNT_NAME	DD	0 ~ 15	एएससीआयआय
W	CNT_NO	DD	0 ~ 15	एएससीआयआय
W	PRJ_NAME	DD	0 ~ 15	एएससीआयआय
W	MAIN_LIST	DD	0 ~ 65	*टीप 7
W	GET_TASK_INF	DD	0 ~ 59	*टीप 8
W	TASK_FUN_NAME	डीडीडीडी	100 ~ 5999	एएबीबी AA: Existing task no. BB: Fill 00 (ASCII)
W	TASK_STATUS	डीडीडीडी	100 ~ 5999
W	TASK_TYPE	डीडीडीडी	100 ~ 5999
W	TASK_START_TIME	डीडीडीडी	100 ~ 5999
DW	TASK_EXE_LINE	DD	1 ~ 59	Existing task no.
W	GETMAIN	D	0
W	IO_MAP	D	0	*टीप 9
W	GETIOSTR	HH	0 ~ A8	*टीप 10
W	GET_ERR_HIS_NUM	D	0	Number of history
W	ERR_HIS_CODE	DD	1 ~ 49	Error history no.
W	ERR_HIS_FUN_NAME	डीडीडीडी	100 ~ 4999	एएबीबी AA: Error history no. BB: Fill 00 (ASCII)
DW	ERR_HIS_LINE	DD	1 ~ 49	Error history no.
W	ERR_HIS_INT_CODE	DD	1 ~ 49	Error history no.
W	ERR_HIS_TIME	डीडीडीडी	100 ~ 4999	एएबीबी AA: Error history no. BB: Fill 00 (ASCII)
W	ERR_HIS_ROBOT_NO	DD	1 ~ 49	Error history no.
W	ERR_HIS_AXIS_NO	DD	1 ~ 49	Error history no.
W	ERR_HIS_TASK_NO	DD	1 ~ 49	Error history no.
W	ERR_HIS_INFO1	डीडीडीडी	100 ~ 4999	एएबीबी AA: Error history no. BB: Fill 00 (ASCII)
W	ERR_HIS_INFO2	डीडीडीडी	100 ~ 4999	एएबीबी AA: Error history no. BB: Fill 00 (ASCII)

बिट/शब्द	डिव्हाइस प्रकार	स्वरूप	श्रेणी	मेमो
W	ERR_HIS_MESSAGE	डीडीडीडी	100 ~ 4999	एएबीबी AA: Error history no. BB: Fill 00 (ASCII)
W	ERR_MESSAGE	डीडीडीडी	0 ~ 9999	एएससीआयआय
W	PFILEसूची	DDDDDD	10000 ~ 169999	AABBCC AA: Robot no. BB: File index CC: Fill 00 (ASCII)
W	LOADPFILE	DDDDD	100 ~ 16099	एएबीबी AA:Robot no BB: Fill 00 (ASCII)
W	GETPINF	DD	0 ~ 54	0: Write 1 to read 1: Robot no. 2: Stat point no. 3: End point no. 4: number of points 5~54: point
W	PINF_POINT_NO	DD	0 ~ 49	पॉइंट
DW (float)	PINF_X_COORDINATE	DD	0 ~ 49
DW (float)	PINF_Y_COORDINATE	DD	0 ~ 49
DW (float)	PINF_Z_COORDINATE	DD	0 ~ 49
DW (float)	PINF_U_COORDINATE	DD	0 ~ 49
DW (float)	PINF_V_COORDINATE	DD	0 ~ 49
DW (float)	PINF_W_COORDINATE	DD	0 ~ 49
DW (float)	PINF_R_COORDINATE	DD	0 ~ 49
DW (float)	PINF_S_COORDINATE	DD	0 ~ 49
DW (float)	PINF_T_COORDINATE	DD	0 ~ 49
W	PINF_HAND	DD	0 ~ 49	0: त्रुटी 1: Lefty 2: Righty
W	PINF_ELBOW	DD	0 ~ 49	0: त्रुटी 1: Below 2: Ablow

बिट/शब्द	डिव्हाइस प्रकार	स्वरूप	श्रेणी	मेमो
W	PINF_WRIST	DD	0 ~ 49	0: त्रुटी 1: Flip 2: No. flip
W	PINF_J4FLAG	DD	0 ~ 49
W	PINF_J6FLAG	DD	0 ~ 49
W	PINF_J1FLAG	DD	0 ~ 49
W	PINF_J2FLAG	DD	0 ~ 49
W	PINF_J1ANGLE	DD	0 ~ 49
W	RBTINF_NUM	D	0	1 ~ 16
W	RBTINF_TYPE	DD	1 ~ 16	1 ~ 16
W	RBTINF_MODEL_NAME	डीडीडीडी	100 ~ 1699	AA: 1~16 BB: Fill 00 (ASCII)
DW	ENET_TOTAL_TIME	D	0
DW	ENET_POWER_ON_TIME	D	0
DW	EXTTIME_MOTOR_ON	DD	1 ~ 16
DW	EXTTIME_MOTOR_ON_NUM	DD	1 ~ 16
DW (float)	X_STEP_DISTANCE	D	0	Step distance control
DW (float)	Y_STEP_DISTANCE	D	0
DW (float)	Z_STEP_DISTANCE	D	0
DW (float)	U_STEP_DISTANCE	D	0
DW (float)	V_STEP_DISTANCE	D	0
DW (float)	W_STEP_DISTANCE	D	0
DW (float)	J1_STEP_DISTANCE	D	0
DW (float)	J2_STEP_DISTANCE	D	0
DW (float)	J3_STEP_DISTANCE	D	0
DW (float)	J4_STEP_DISTANCE	D	0
DW (float)	J5_STEP_DISTANCE	D	0
DW (float)	J6_STEP_DISTANCE	D	0
W	GO	D	0
W	उडी	D	0
W	JUMP3	D	0 ~ 3	0: write1 to excute 1~3: point
W	JUMP3CP	D	0 ~ 3	0: write1 to excute 1~3: point
W	हलवा	D	0

बिट/शब्द	डिव्हाइस प्रकार	स्वरूप	श्रेणी	मेमो
W	ARC	D	0 ~ 2	0: write1 to excute 1~2: point
W	ARC3	D	0 ~ 2	0: write1 to excute 1~2: point
W	T_POINT	D	0 ~ 1
W	SELECT_POINT_FILE	DD	1 ~ 16	फक्त लिहा
W	J1FLAG	D	0
W	J4FLAG	D	0
W	J6FLAG	D	0
W	PINF_LOCAL	DDD	0 ~ 999	0 ~ 15, 256~272(CNV(1)~CNV(16))
W	PINF_LABEL	DDDDD	0 ~ 99999	Use ASCII Object AA: 0~999 BB: Fill 00 (ASCII)

टीप 1:
When [Remote Password Setting] is checked, the set password will be automatically filled in to this address

टीप 2:

पत्ता	बिट	वर्णन
0	0-15	Task 1 – 16 is executing (Xqt) or Halt condition
	16	The task is executing
	17	Pause condition
	18	त्रुटी स्थिती
	19	TEACH mode
	20	Emergency stop condition
	21	Low power mode (Power Low)
	22	Safety door input is open
	23	The enable switch is open
1	0	Conditional approval of Jump…Sense statement of the history of target coordinates over the suspension. (Jump statements are then executed; this history is साफ केले.)
	1	Conditional approval of Go/Jump/Move…Till statement in the history of operating suspend. (Go/Jump/Move…Till statements, then executed this history is साफ केले.)
	2	अपरिभाषित
	3	Conditional approval of the Trap statement in the history of the operating system निलंबित
	4	Motor On condition
	5	Home position currently
	6	कमी पॉवर स्थिती
	7	अपरिभाषित
	8	Joint 4 motor is on
	9	Joint 3 motor is on
	10	Joint 2 motor is on
	11	Joint 1 motor is on
	12	Joint 6 motor is on
	13	Joint 5 motor is on
	14	The joint T motor is on
	15	Joint S motor is on
	16	Joint 7 motor is on
2	0-15	Tasks 17 – 32 are executing (Xqt) or Halt condition

टीप 3:

पत्ता	बिट	वर्णन
0	0	अपरिभाषित
	1	A resettable error occurs
	2	An unresettable error occurs
	3	मोटर चालू
	4	पॉवर उच्च
	8	The robot is in Halt condition
	9	The robot is not in Halt condition (operating or quick pausing)
	10	Roboy stops at the pausing or safety door
	14	Meet the TILL condition, after the operation command
	15	Meet the SENSE condition after the operation command
1	0	In the follow-up operation (In the conveyor tracking)
	1	Wait for return action (WaitRecover condition)
	2	The return action is executing
2	0	The robot is home position
3	0	Joint 1 servo is on
	1	The joint 2 servo is on
	2	The joint 3 servo is on
	3	The joint 4 servo is on
	4	The joint 5 servo is on
	5	The joint 6 servo is on
	6	The joint 7 servo is on
	7	Joint S servo is on
	8	The joint T servo is on
4	N/A	It is a task number executing a robot command. 0 = Execute the command from the command window or macro. -1 = Task or manipulator is unused.
5	0	Joint 1 brake is on
	1	Joint 2 brake is on
	2	Joint 3 brake is on
	3	Joint 4 brake is on
	4	Joint 5 brake is on
	5	The joint 6 brake is on
	6	Joint 7 brake is on
	7	The joint S brake is on
	8	The joint T brake is on

टीप 4:

IO_LABEL data format = A.B.CCCCC.DD (Max: 226553599) A: IO type: 0 (Input), 1 (Output), 2 (Memory)
B: IO width: 0 (Bit), 1 (Byte), 2 (Word)
C: Port No.: 0 ~ 65535
D: Fill 00

टीप 5:

0: PTP motion percent speed[%]
1: Jump departure speed[%]
2: Jump approach speed[%]

टीप 6:

0: acceleration specification value
1: Deceleration specification value
2: Depart acceleration specification value for Jump
3: Depart deceleration specification value for Jump
4: Approach the acceleration specification value for the Jump
5: Approach the deceleration specification value for the Jump

टीप 7:

0: Number of functions in the program
1~65: Existing function no.

टीप 8:

0: Number of tasks
1~65: Existing task no.

टीप 9:

पत्ता	बिट	वर्णन
1	0	Ready condition
	1	प्रारंभ स्थिती
	2	Pause condition
	8	Emergency stop condition
	9	Safety door open condition
	10	त्रुटी स्थिती
	11	Fatal error condition
	12	चेतावणी स्थिती
	13	WaitRecover condition (It is waiting return from the safe door opening)

पत्ता	बिट	वर्णन
	14	Recover condition (It is executing a return from the safe door open)
2	0	Enable the switch of TP1 to be ON
3	0	TEACH mode circuit failure detection
	1	Safety door circuit failure detection
	2	Emergency stop circuit failure detection
4	N/A	0: Real run mode, 1: Dry run mode
5	N/A	नियंत्रण यंत्र 21: RC+, 22: Remote, 26: Remote Ethernet, 29: Remote RS232C
6	N/A	Number of the set of robots
7	N/A	ऑपरेशन मोड 0: Programming mode, 1: AUTO mode
9	N/A	Firmware version of the controller Major number1000000 + Minor number10000 + Revision number*100 + बिल्ड नंबर Example: In the case of 1.6.2.4 1060204
10	N/A	SMART status of the hard disk 0: SMART status is normal, 1: SMART status is abnormal When the SMART status is abnormal, the hard disk may break down, and backup data Immediately, use a new hard disk. You cannot use SMART status when you use RAID. It will always return सामान्य.

टीप 10:
Data format: XY (X: 0 ~ A, Y: 0 ~ 8) X0: Memory I/O

X1: Standard I/O
X2: Drive unit1
X3: Drive unit2
X4: Drive unit3
X5: Expansion I/O-1
X6: Expansion I/O-2
X7: Expansion I/O-3
X8: Expansion I/O-4
X9: Fieldbus master
XA: Fieldbus slave

Y0 ~ 8:

बिट	वर्णन
0	Exist I/O? 0: Not exist.(0 is set to IOSTRUCR.1 – 8) 1: 1data Exist.(0 is set to IOSTRUCR.5 – 8) 2: 2data Exist. (Input/Output are separated.)
1	I/O प्रकार 0: Memory I/O 1: Standard I/O 2: Drive units1 3: Drive units2 4: Drive units3 5: Expansion I/O-1 6: Expansion I/O-2 7: Expansion I/O-3 8: Expansion I/O-4 9: Fieldbus master A: Fieldbus slave
2	Input / Output 0: Input २: आउटपुट 2: Input and Output
3	Start number.
4	मेमरी आकार
5	Input / Output(2) 0: Input २: आउटपुट 2: Input and Output
7	Start number. (2)
8	Memory size (2)

टीप 11:

Remote Ethernet is not a console device
Remote Ethernet is a console device

Epson RC+ 7.4.0 Instructions

The software can be simulated as a robotic arm; the steps are as follows

Click [connect] after opening the softwareAfter opening, select the virtual option and connect.

After opening, select the virtual option and connect.
Select the same project as the previously set virtual model
Settings -> System Configuration
Controller -> Remote Control -> Ethernet
Set the port and ending characters, the timeout setting, and the password will be disconnected if the command is not received for a few seconds, and press apply after modifying

Controller -> Configuration -> The control device must be changed to [Remote Ethernet] and click [Apply].
[Simulator] can watch the simulation of the robot arm
Robot Manager (F6), check the status of the robot arm.

[IO monitor] can view the status of the IO points.
Click [Open the running window(F5)]
Click [Start Remote ETH] to simulate.

वायरिंग आकृती

इथरनेट केबल:

वारंवार विचारले जाणारे प्रश्न

Q: What should I do if the communication port conflicts with other devices?
A: Make sure that the communication port does not conflict with other devices. You can change the port number in the HMI settings.

Q: How do I set the motor on/off for a specific robot?
A: Use the MOTOR device type with the corresponding robot number (1-16) to turn the motor on or off for that specific robot.
Q: What is the range for the STATUS_ERROR_CODE device type?
A: The range for STATUS_ERROR_CODE is from 0 to 4095.

कागदपत्रे / संसाधने

WEINTEK Epson Robot Controller [pdf] वापरकर्ता मार्गदर्शक
Epson Robot Controller, Robot Controller, Controller

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WEINTEK Epson Robot Controller

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Epson Robot Controller