WEINTEK Epson Robot Controller

Whakatakotoranga

• Raupapa Tautoko: Epson Robot Controller
• Webpae: https://global.epson.com/
• PLC I/F: Itarangi
• Tauranga nama: 5000

Nga Tohutohu Whakamahi Hua

Tautuhinga HMI:

• Tawhā:
• Kōwhiringa Manakohia:
• Tuhipoka:

Wāhitau Pūrere:
He rereke pea te waahi noho me te awhe o nga tauira whakahaere rereke.

Moka/Momo Pūrere Kupu	Whakahōputu	Awhe	Memo

Memo:
*Note2 *Note3 On: Teitei / Weto: Iti *Note4 Maamaa ka arawhiti i te taipana toharite Maama ka arawhiti te taipana teitei *Note9 *Note11

Epson Robot Controller

Raupapa Tautoko: Epson Robot Controller Webpae: https://global.epson.com/

Tautuhinga HMI:

Tawhā	E taunaki ana	Kōwhiringa	Notes
Momo PLC	Epson Robot Controller
PLC I/F	Itarangi
Tauranga No.	5000		*Tuhipoka
Whakamutua	CRLF	CRLF / CR / LF

Tuhipoka: Me whakarite kia kore e taupatupatu te tauranga korero ki etahi atu taputapu

Wāhitau Pūrere

He rereke pea te waahi noho me te awhe o nga tauira whakahaere rereke.

Moka/Kupu	Momo taputapu	Whakahōputu	Awhe	Memo
B	TOHUTOHU	D	0	Tautuhi 1 (Ko te Whakataki)
B	PANUI	D	0
B	KATI	D	0
B	TATAHI	D	0
B	TONU	D	0
B	WHAKATURU	D	0
B	MOTORI	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	STATUS_PAUSE	D	0

Moka/Kupu	Momo taputapu	Whakahōputu	Awhe	Memo
B	STATUS_RUNNING	D	0
B	STATUS_READY	D	0
B	WHAKATAUTANGA	D	0
B	STAT_BIT	DDD	0 ~ 331	*Tuhipoka2
B	RBTINF_BIT	DDD	0 ~ 531	*Tuhipoka3
B	MANA	D	0	Ki runga: Teitei / Weto: Iti
B	CTRLINF_BIT	DDDD	0 ~ 1031	*Tuhipoka4
B	ATCLR	D	1 ~ 9	Ka whakawātea, ka arawhiti i te taipana toharite
B	PTCLR	D	1 ~ 9	Ka whakawātea, ka arawhiti i te taipana teitei
B	IO_MAP_BIT	D	0	*Tuhipoka9
B	WHAKAMAHI	D	0	*Tuhipoka11
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

Moka/Kupu	Momo taputapu	Whakahōputu	Awhe	Memo
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	TUKAKI	D	0
B	ROTO	D	0
W	LOGINPAS	D	0 ~ 8	ASCII *Tuhipoka1
W	Timata	D	0
W	CURROBOT	D	0	Panui: Whakaatu Robot Tuhia: Tīpakohia te Robot
W	KĀINGA	D	0	Robot Target
W	IN_WORD	DDDD	0 ~ 4095
W	OUT_WORD	DDDD	0 ~ 4095
W	MEMIO_WORD	DDDD	0 ~ 4095
W	STATUS_ERROR_CODE	D	0
DW	STAT	D	0 ~ 3	*Tuhipoka2
DW	RBTINF	D	0 ~ 5	*Tuhipoka3
W	IO_LABEL	DDDDDDDDD	0 ~	ASCII *Tuhipoka4
W	SYSERR	D	0 ~ 1	0: Waehere Hapa 1: Waehere whakatupato
DW	CTRLINF	DD	0 ~ 10	*Tuhipoka4
DW (mānu)	RBTW	D	1 ~ 9	X, Y, Z, U, V, W, R, S, T
DW (mānu)	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	TE RERE	D	0 ~ 2	*Tuhipoka5
W	ACCEL	D	0 ~ 5	*Tuhipoka6
DW (mānu)	REALTRQ	D	1 ~ 9	Tau Hononga
DW (mānu)	ATRQ	D	1 ~ 9	Tau Hononga
DW (mānu)	PTRQ	D	1 ~ 9	Tau Hononga
DW (mānu)	QLRATE	D	1 ~ 9	Tau Hononga

Moka/Kupu	Momo taputapu	Whakahōputu	Awhe	Memo
W	CNT_NAME	DD	0 ~ 15	Ascii
W	CNT_NO	DD	0 ~ 15	Ascii
W	PRJ_NAME	DD	0 ~ 15	Ascii
W	MAIN_LIST	DD	0 ~ 65	*Tuhipoka7
W	TIKI_TAHI_INF	DD	0 ~ 59	*Tuhipoka8
W	TASK_FUN_NAME	DDDD	100 ~ 5999	AABB AA: Mahi o naianei no. BB: Whakakiia 00 (ASCII)
W	TŪMAHI_TĀNgā	DDDD	100 ~ 5999
W	TASK_TYPE	DDDD	100 ~ 5999
W	TASK_START_TIME	DDDD	100 ~ 5999
DW	TASK_EXE_LINE	DD	1 ~ 59	Te mahi o naianei no.
W	GETMAIN	D	0
W	IO_MAP	D	0	*Tuhipoka9
W	GETIOSTR	HH	0 ~ A8	*Tuhipoka10
W	GET_ERR_HIS_NUM	D	0	Te maha o nga hitori
W	ERR_NA_WAEKE	DD	1 ~ 49	Hītori hapa No.
W	ERR_HIS_FUN_NAME	DDDD	100 ~ 4999	AABB AA: Hapa hitori no. BB: Whakakiia 00 (ASCII)
DW	ERR_HIS_LINE	DD	1 ~ 49	Hītori hapa No.
W	ERR_HIS_INT_CODE	DD	1 ~ 49	Hītori hapa No.
W	ERR_HIS_TIME	DDDD	100 ~ 4999	AABB AA: Hapa hitori no. BB: Whakakiia 00 (ASCII)
W	ERR_NA_ROBOT_NO	DD	1 ~ 49	Hītori hapa No.
W	ERR_NA_AXIS_NO	DD	1 ~ 49	Hītori hapa No.
W	ERR_NA_TAHI_NO	DD	1 ~ 49	Hītori hapa No.
W	ERR_HIS_INFO1	DDDD	100 ~ 4999	AABB AA: Hapa hitori no. BB: Whakakiia 00 (ASCII)
W	ERR_HIS_INFO2	DDDD	100 ~ 4999	AABB AA: Hapa hitori no. BB: Whakakiia 00 (ASCII)

Moka/Kupu	Momo taputapu	Whakahōputu	Awhe	Memo
W	ERR_HIS_MESSAGE	DDDD	100 ~ 4999	AABB AA: Hapa hitori no. BB: Whakakiia 00 (ASCII)
W	ERR_MESSAGE	DDDD	0 ~ 9999	Ascii
W	PFILERĀRANGI	DDDDDD	10000 ~ 169999	AABBCC AA: Robot no. BB: File taupū CC: Whakakī 00 (ASCII)
W	UTANGAFILE	DDDDD	100 ~ 16099	AABB AA:Robot no BB: Whakakiia 00 (ASCII)
W	GETPINF	DD	0 ~ 54	0: Tuhia 1 hei panui 1: Robot no. 2: Stat point no. 3: Whakamutunga No. 4: te maha o nga tohu 5~54: tohu
W	PINF_POINT_NO	DD	0 ~ 49	Tohu
DW (mānu)	PINF_X_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_Y_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_Z_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_U_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_V_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_W_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_R_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_S_COORDINATE	DD	0 ~ 49
DW (mānu)	PINF_T_COORDINATE	DD	0 ~ 49
W	PINF_HAND	DD	0 ~ 49	0: Hapa 1: Mauī 2: Tika
W	PINF_ELBOW	DD	0 ~ 49	0: Hapa 1: Kei raro 2: Awhiowhio

Moka/Kupu	Momo taputapu	Whakahōputu	Awhe	Memo
W	PINF_WRIST	DD	0 ~ 49	0: Hapa 1: Pore 2: Kao
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
W	RBTINF_MODEL_NAME	DDDD	100 ~ 1699	AA: 1~16 BB: Whakakiia 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 (mānu)	X_STEP_DISTANCE	D	0	Te whakahaere i tawhiti
DW (mānu)	Y_STEP_DISTANCE	D	0
DW (mānu)	Z_STEP_DISTANCE	D	0
DW (mānu)	U_STEP_DISTANCE	D	0
DW (mānu)	V_STEP_DISTANCE	D	0
DW (mānu)	W_STEP_DISTANCE	D	0
DW (mānu)	J1_STEP_DISTANCE	D	0
DW (mānu)	J2_STEP_DISTANCE	D	0
DW (mānu)	J3_STEP_DISTANCE	D	0
DW (mānu)	J4_STEP_DISTANCE	D	0
DW (mānu)	J5_STEP_DISTANCE	D	0
DW (mānu)	J6_STEP_DISTANCE	D	0
W	GO	D	0
W	PEKE	D	0
W	PEKE3	D	0 ~ 3	0: tuhi1 ki te whakaoti 1~3: tohu
W	JUMP3CP	D	0 ~ 3	0: tuhi1 ki te whakaoti 1~3: tohu
W	nuku	D	0

Moka/Kupu	Momo taputapu	Whakahōputu	Awhe	Memo
W	ARC	D	0 ~ 2	0: tuhi1 ki te whakaoti 1~2: tohu
W	ARC3	D	0 ~ 2	0: tuhi1 ki te whakaoti 1~2: tohu
W	T_POINT	D	0 ~ 1
W	SELECT_POINT_FILE	DD	1 ~ 16	Tuhia anake
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	Whakamahia ASCII Ahanoa AA: 0~999 BB: Whakakiia 00 (ASCII)

Tuhipoka1:
Ina tirohia te [Tautuhinga Kupuhipa Mamao], ka whakakiia te kupuhipa kua whakaritea ki tenei wahitau

Tuhipoka2:

Wāhitau	Bit	Whakaahuatanga
0	0-15	Ko te mahi 1 – 16 kei te mahi (Xqt) i te ahua Kati ranei
	16	Kei te mahi te mahi
	17	Whakatatari tikanga
	18	Te huru hapa
	19	aratau WHAKAAKO
	20	Tutu ohorere
	21	Aratau hiko iti (Power Iti)
	22	Kua tuwhera te urunga kuaha haumaru
	23	Kua tuwhera te pana whakaahei
1	0	Whakaaetanga herenga o Peke…Te korero mo te hitori o nga taunga whaainga i runga i te whakatārewatanga. (Ka mahia nga korero peke; ko tenei hitori whakawāteatia.)
	1	Whakaaetanga herenga o Haere/Peke/Neke...Kia tae ki te korero i roto i te hitori o te whakahaere whakatarewa. (Haere/Peke/Neke...Kia tae ki nga korero, ka mahia tenei hitori ko whakawāteatia.)
	2	Kaore i tautuhia
	3	Whakaaetanga herenga mo te korero Trap i roto i te hitori o te punaha whakahaere whakatarewa
	4	Motika Kei runga te here
	5	Te tuunga kaainga i tenei wa
	6	Te mana iti
	7	Kaore i tautuhia
	8	Ko te motini hono 4 kei te ka
	9	Ko te motini hono 3 kei te ka
	10	Ko te motini hono 2 kei te ka
	11	Ko te motini hono 1 kei te ka
	12	Ko te motini hono 6 kei te ka
	13	Ko te motini hono 5 kei te ka
	14	Kei te haere te motini T hono
	15	Kei te ka te nekeneke S tahi
	16	Ko te motini hono 7 kei te ka
2	0-15	Ko nga mahi 17 – 32 kei te mahi (Xqt) me te Kati ranei

Tuhipoka3:

Wāhitau	Bit	Whakaahuatanga
0	0	Kaore i tautuhia
	1	Ka puta he hapa ka taea te tautuhi
	2	Ka puta he hapa kaore e taea te tautuhi
	3	Motor ON
	4	Kaha Teitei
	8	Ko te karetao kei te ahua Kati
	9	Karekau te karetao i roto i te ahua Kati (e mahi ana, e tatari tere ana ranei)
	10	Ka tu a Roboy i te kuaha okioki, haumaru ranei
	14	Me tutuki te tikanga TILL, i muri i te whakahau mahi
	15	Tutaki i te ahuatanga SENSE i muri i te whakahau mahi
1	0	I roto i te mahi whai-muri (I roto i te kaikawe aroturuki)
	1	Taria mo te hokinga mai (TatariWhakaora tikanga)
	2	Kei te mahia te mahi whakahoki
2	0	Ko te karetao he waahi kaainga
3	0	Ko te servo hono 1 kei te ka
	1	Kei te noho te servo hono 2
	2	Kei te noho te servo hono 3
	3	Kei te noho te servo hono 4
	4	Kei te noho te servo hono 5
	5	Kei te noho te servo hono 6
	6	Kei te noho te servo hono 7
	7	Kei te ka ana te servo hononga S
	8	Kei te ka ana te T servo hono
4	N/A	He tau mahi e mahi ana i te whakahau karetao. 0 = Mahia te tono mai i te matapihi whakahau, tonotono ranei. -1 = Karekau i whakamahia he mahi, he raweke ranei.
5	0	Ko te parai hono 1 kei te ka
	1	Ko te parai hono 2 kei te ka
	2	Ko te parai hono 3 kei te ka
	3	Ko te parai hono 4 kei te ka
	4	Ko te parai hono 5 kei te ka
	5	Kei te 6 te parai hono
	6	Ko te parai hono 7 kei te ka
	7	Kei te mau te rei S hono
	8	Ka mau te rei T hono

Tuhipoka4:

• Hōputu raraunga IO_LABEL = ABCCCCC.DD (Mōrahi: 226553599) A: Momo IO: 0 (Whakauru), 1 (Putanga), 2 (Mahara)
• B: IO whanui: 0 (Bit), 1 (Paita), 2 (Kupu)
• C: Tauranga Nama: 0 ~ 65535
• D: Whakakiia 00

Tuhipoka5:

• 0: PTP nekehanga ōrau tere[%]
• 1: Peke tere wehe[%]
• 2: Peke tere huarahi[%]

Tuhipoka6:

• 0: uara whakaritenga whakaterenga
• 1: Te uara whakatepetanga
• 2: Haere i te uara whakaritenga whakaterenga mo Peke
• 3: Haere i te uara whakapoto mo te Peke
• 4: Whakatata atu ki te uara whakatauranga whakaterenga mo te Peke
• 5: Whakatata atu ki te uara whakapoto mo te Peke

Tuhipoka7:

• 0: Te maha o nga mahi i roto i te hotaka
• 1~65: Mahi o naianei no.

Tuhipoka8:

• 0: Te maha o nga mahi
• 1~65: Mahi o naianei no.

Tuhipoka9:

Wāhitau	Bit	Whakaahuatanga
1	0	ahua reri
	1	Tīmata huru
	2	Whakatatari tikanga
	8	Tutu ohorere
	9	Kua tuwhera te kuaha haumaru
	10	Te huru hapa
	11	Te huru hapa mate
	12	Tikanga whakatupato
	13	WaitRecover huru (Kei te tatari te hokinga mai i te whakatuwheratanga o te tatau haumaru)

Wāhitau	Bit	Whakaahuatanga
	14	Whakaora i te ahua (Kei te mahia he hokinga mai i te kuaha haumaru e tuwhera ana)
2	0	Whakahohehia te whakakā o TP1 kia ON
3	0	TEACH aratau ara iahiko rapunga rahunga
	1	Te kitenga rahunga ara iahiko kuaha haumaru
	2	Te kitenga rahunga iahiko mutu ohorere
4	N/A	0: Aratau oma tuturu, 1: Aratau oma maroke
5	N/A	Pūrere whakahaere 21: RC+, 22: Mamao, 26: Itarangi Mamao, 29: RS232C Mamao
6	N/A	Te maha o te huinga karetao
7	N/A	Aratau mahi 0: Aratau Papatonotanga, 1: Aratau AUTO
9	N/A	Putanga firmware o te kaiwhakahaere Tau nui*1000000 + Tau iti*10000 + Tau whakahou*100 + Tau hanga Example: I roto i te take o 1.6.2.4 1060204
10	N/A	Te mana SMART o te kōpae mārō 0: He noa te mana SMART, 1: He rereke te mana SMART Ina he rerekee te mana SMART, ka pakaru pea te kōpae mārō, me ngā raraunga pūrua Inaianei, whakamahia he kōpae mārō hou. Kaore e taea e koe te whakamahi i te mana SMART ina whakamahi koe i te RAID. Ka hoki tonu mai Pūnoa.

Tuhipoka10:
Hōputu Raraunga: XY (X: 0 ~ A, Y: 0 ~ 8) X0: Mahara I/O

• X1: Paerewa I/O
• X2: Puku wae1
• X3: Puku wae2
• X4: Puku wae3
• X5: Roha I/O-1
• X6: Roha I/O-2
• X7: Roha I/O-3
• X8: Roha I/O-4
• X9: te rangatira o Fieldbus
• XA: taurekareka Fieldbus

Y0 ~ 8:

Bit	Whakaahuatanga
0	He I/O? 0: Karekau.(0 kua tautuhia ki IOSTRUCR*.1 – 8) 1: 1raunga kei te noho.(0 kua tautuhia ki IOSTRUCR*.5 – 8) 2: 2Raunga Raraunga. (Ko te whakauru/Putanga ko wehea.)
1	Momo I/O 0: Mahara I/O 1: Paerewa I/O 2: Nga wae taraiwa1 3: Nga wae taraiwa2 4: Nga wae taraiwa3 5: Roha I/O-1 6: Roha I/O-2 7: Roha I/O-3 8: Roha I/O-4 9: Fieldbus rangatira A: Fieldbus taurekareka
2	Whakauru / Putanga 0: Whakauru 1: Putanga 2: Whakauru me te Putanga
3	Tau timata.
4	Rahi mahara
5	Whakauru / Putanga(2) 0: Whakauru 1: Putanga 2: Whakauru me te Putanga
7	Tau timata. (2)
8	Rahi pūmahara (2)

Tuhipoka11:

1. Ko Ethernet Mamao ehara i te taputapu papatohu
2. Ko te Itarangi Mamao he taputapu papatohu

Epson RC+ 7.4.0 Tohutohu

Ka taea te whakataurite i te rorohiko hei ringa karetao; e whai ake nei nga kaupae

1. Patohia te [hono] i muri i te whakatuwheratanga o te rorohikoI muri i te whakatuwheratanga, tohua te whiringa mariko ka hono.
2. I muri i te whakatuwheratanga, tohua te whiringa mariko ka hono.
3. Tīpakohia te kaupapa rite ki te tauira mariko kua whakaritea i mua
4. Tautuhinga -> Whirihoranga Pūnaha
5. Kaiwhakahaere -> Mana Mamao -> Itarangi
   Tautuhia te tauranga me nga tohu mutunga, te whakatakotoranga waahi, ka momotuhia te kupuhipa mena karekau te tono kia tae mo etahi hēkona, ka pehi i te tono i muri i te whakarereketanga.
6. Kaiwhakahaere -> Whirihoranga -> Me huri te taputapu mana ki [Itarangi Mamao] ka paato i te [Hoatu].
7. Ka taea e [Simulator] te maataki i te whaihanga o te ringa karetao
8. Kaiwhakahaere Robot (F6), tirohia te mana o te ringa karetao.
9. [IO monitor] taea view te mana o nga tohu IO.
10. Pāwhiritia [Whakatuwheratia te matapihi e rere ana(F5)]
11. Patohia te [Tīmata ETH Mamao] ki te whakarite.

Hoahoa Waea

taura itarangi: 

FAQ

• Q: Me aha ahau ki te taupatupatu te tauranga korero ki etahi atu taputapu?
  A: Kia mohio kei te taupatupatu te tauranga korero ki etahi atu taputapu. Ka taea e koe te huri i te tau tauranga i nga tautuhinga HMI.
• Q: Me pehea taku whakatu i te motini ki runga/atu mo te robot motuhake?
  A: Whakamahia te momo taputapu MOTOR me te nama karetao e rite ana (1-16) hei whakahuri, whakaweto ranei i te motuka mo taua karetao motuhake.
• Q: He aha te awhe mo te momo taputapu STATUS_ERROR_CODE?
  A: Ko te awhe mo STATUS_ERROR_CODE mai i te 0 ki te 4095.

Tuhinga / Rauemi

WEINTEK Epson Robot Controller [pdf] Aratohu Kaiwhakamahi Epson Robot Controller, Robot Controller, Kaiwhakahaere

Tohutoro

• Pukapuka Kaiwhakamahi