User`s guide

11. Remote Control
274 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4
Command
Format
GetIOMemWord
[ACK] ‘u’[ Word value(16Bit) (&H0000～
&HFFFF)] [ETX][BCC]
GetVariable
[ACK] ‘u’[parameter] [ETX][BCC]
GetVariable (in case of array)
[ACK] ‘u’[parameter 1][parameter 2]...
[ETX][BCC] *4
GetStatus
[ACK] ‘S’ [Status],[Error, Warning code]
[ETX][BCC]
Example) [ACK]
‘S’[aaaaaaaaaa][bbbb][ETX][BCC]
*2 *3
Execute
If the value is returned as a result of command
execution
[ACK] ‘X’”[Execution result]” [ETX][BCC]
*1 [&H00 | &H01] I/O bit ON: &H01/ OFF: &H00
*2 Status
In the example above, 10 digits [aaaaaaaaaa] is for the following 10 flags.
Teach/Auto/Warning/SError/Safeguard/EStop/Error/Paused/Running/Ready
&H01 is ON /&H00 is OFF
If Teach and Auto are ON, it is
[&H00&H01&H00&H00&H00&H00&H00&H00&H00&H01].
*3 Error / Warning code
It is indicated in 4 digits. If there is no error and warning, it is 0000
(&H30&H30&H30&h30).
e.g.)1 : [ACK]
‘S[&H00&H01&H00&H00&H00&H00&H00&H00&H00&H01][ &H30&H30&H
30&h30]
The bits for Auto and Ready us ON (&H01).
This means that AutoMode is ON and be in Ready state. Command execution is
enabled.
e.g.)2 : :[ACK]
‘S[&H00&H01&H01&H00&H00&H00&H00&H00&H01&H00][ &H30&H35&H
31&h37]
This means the warning occurs during the operation. Take appropriate action for
the warning code. (In this case, warning code is 0517 )
Flag
Contents
Teach
Turn ON in the TEACH mode
Auto
Turn ON in the remote input acceptance condition
Warnig
Turn ON in the warning condition
Task can be executed as usual even a warning condition. However, take
action for the warning as soon as possible.
SError
Turn ON in the serious error condition
When a serious error occurs, Reboot the Controller to recover from the
error condition. “Reset input” is not available.
Safeguard
Turn ON with safety door open
EStop
Turn ON in the emergency condition
Error
Turn ON in the error condition
Use “Reset input” to recover from the error condition.