WEINTEK Epson Robot Controller User Guide

Parameters	Recommended	Options	Notes
PLC type	Epson Robot Controller
PLC I/F	Ethernet
Port no.	5000		*Note
Terminator	CRLF	CRLF / CR / LF

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

Device Address

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

Bit/Word	Device type	Format	Range	Memo
B	LOGIN	D	0	Set 1 (Initialization)
B	LOGOUT	D	0
B	STOP	D	0
B	PAUSE	D	0
B	CONTINUE	D	0
B	RESET	D	0
B	MOTOR	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

Bit/Word	Device type	Format	Range	Memo
B	STATUS_RUNNING	D	0
B	STATUS_READY	D	0
B	ABORT	D	0
B	STAT_BIT	DDD	0 ~ 331	*Note2
B	RBTINF_BIT	DDD	0 ~ 531	*Note3
B	POWER	D	0	On: High / Off: Low
B	CTRLINF_BIT	DDDD	0 ~ 1031	*Note4
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	*Note9
B	CONSOLE	D	0	*Note11
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

Bit/Word	Device type	Format	Range	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	ELBOW	D	0
B	WRIST	D	0
W	LOGINPASS	D	0 ~ 8	ASCII *Note1
W	START	D	0
W	CURROBOT	D	0	Read: Display Robot Write: Select Robot
W	HOME	D	0	Target Robot
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	*Note2
DW	RBTINF	D	0 ~ 5	*Note3
W	IO_LABEL	DDDDDDDDD	0 ~	ASCII *Note4
W	SYSERR	D	0 ~ 1	0: Error code 1: Warning code
DW	CTRLINF	DD	0 ~ 10	*Note4
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	SPEED	D	0 ~ 2	*Note5
W	ACCEL	D	0 ~ 5	*Note6
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

Bit/Word	Device type	Format	Range	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	*Note7
W	GET_TASK_INF	DD	0 ~ 59	*Note8
W	TASK_FUN_NAME	DDDD	100 ~ 5999	AABB AA: Existing task no. BB: Fill 00 (ASCII)
W	TASK_STATUS	DDDD	100 ~ 5999
W	TASK_TYPE	DDDD	100 ~ 5999
W	TASK_START_TIME	DDDD	100 ~ 5999
DW	TASK_EXE_LINE	DD	1 ~ 59	Existing task no.
W	GETMAIN	D	0
W	IO_MAP	D	0	*Note9
W	GETIOSTR	HH	0 ~ A8	*Note10
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	DDDD	100 ~ 4999	AABB 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	DDDD	100 ~ 4999	AABB 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	DDDD	100 ~ 4999	AABB AA: Error history no. BB: Fill 00 (ASCII)
W	ERR_HIS_INFO2	DDDD	100 ~ 4999	AABB AA: Error history no. BB: Fill 00 (ASCII)

Bit/Word	Device type	Format	Range	Memo
W	ERR_HIS_MESSAGE	DDDD	100 ~ 4999	AABB AA: Error history no. BB: Fill 00 (ASCII)
W	ERR_MESSAGE	DDDD	0 ~ 9999	ASCII
W	PFILELIST	DDDDDD	10000 ~ 169999	AABBCC AA: Robot no. BB: File index CC: Fill 00 (ASCII)
W	LOADPFILE	DDDDD	100 ~ 16099	AABB 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	Point
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: Error 1: Lefty 2: Righty
W	PINF_ELBOW	DD	0 ~ 49	0: Error 1: Below 2: Ablow

Bit/Word	Device type	Format	Range	Memo
W	PINF_WRIST	DD	0 ~ 49	0: Error 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	DDDD	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	JUMP	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	MOVE	D	0

Bit/Word	Device type	Format	Range	Memo
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	Write only
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)

Note1:
When [Remote Password Setting] is checked, the set password will be automatically filled in to this address

Note2:

Address	Bit	Description
0	0-15	Task 1 – 16 is executing (Xqt) or Halt condition
	16	The task is executing
	17	Pause condition
	18	Error condition
	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 cleared.)
	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 cleared.)
	2	Undefined
	3	Conditional approval of the Trap statement in the history of the operating system suspend
	4	Motor On condition
	5	Home position currently
	6	Low power condition
	7	Undefined
	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

Note3:

Address	Bit	Description
0	0	Undefined
	1	A resettable error occurs
	2	An unresettable error occurs
	3	Motor ON
	4	Power High
	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

Note4:

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

Note5:

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

2: Jump approach speed[%]

Note6:

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

Note7:

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

Note8:

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

Note9:

Address	Bit	Description
1	0	Ready condition
	1	Start condition
	2	Pause condition
	8	Emergency stop condition
	9	Safety door open condition
	10	Error condition
	11	Fatal error condition
	12	Warning condition
	13	WaitRecover condition (It is waiting return from the safe door opening)

Address	Bit	Description
	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	Control device 21: RC+, 22: Remote, 26: Remote Ethernet, 29: Remote RS232C
6	N/A	Number of the set of robots
7	N/A	Operation mode 0: Programming mode, 1: AUTO mode
9	N/A	Firmware version of the controller Major number1000000 + Minor number10000 + Revision number*100 + Build number 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 Normal.

Note10:
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:

Bit	Description
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 type 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 1: Output 2: Input and Output
3	Start number.
4	Memory size
5	Input / Output(2) 0: Input 1: Output 2: Input and Output
7	Start number. (2)
8	Memory size (2)

Note11:

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.

Wiring Diagram

Ethernet cable:

FAQS

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.

Documents / Resources

WEINTEK Epson Robot Controller [pdf] User Guide
Epson Robot Controller, Robot Controller, Controller

References

User Manual

WEINTEK Epson Robot Controller

Specifications

Product Usage Instructions

Epson Robot Controller