少有人走的路公司有一批机器，使用PLC控制机器人动作，通过网口进行通讯。
经测试，使用发送ascii码字符方式，可以正常与EPSON机械人进行通讯。
勇哥用网络助手做了一下实验，下文中所记录的远程指令是可以用的。
要注意的是，做这个实验前，把机器人的配置为“远程以太网”。
在远程控制的时候，机器人做为服务器，因此只有个端口号可以改变。
注意CRLF是尾结束符，这意味着你在网络助手里发送字符串指令的最后在加上一个回车，再发送。
$Execute,"Go XY( 100.000, 450.000, 260.000, 090.000, 000.000, 180.000)/R /A /NF /J6F0 /J4F0" 16:03:48 发送数据：$Execute,"Go XY( 100.000+ 010.020, 450.000+ - 010.020, 260.000+ 010.020, 090.000+ 020.020, 000.000, 180.000)/R /A /NF /J6F0 /J4F0" [1次] 16:03:49 收到数据：#Execute,0 相机处理的数据是:如果是0.001 发过 000.001 ascii码的形式：一个符合3位整数加一个小数点加三位小数。 100=（ 100.000) -100=（-100.000） 1.010=（ 001.010） -13.321=（-013.321）
10:37:16 发送数据：$Login,123
[1次]
10:37:16 收到数据：#Login,0
10:45:06 发送数据：$SetCurRobot,0
[1次]
10:45:06 收到数据：#SetCurRobot,0
10:52:00 发送数据：$Execute,"Reset"
[1次]
10:52:00 收到数据：#Execute,0
10:52:51 发送数据：$SetMotorsOn,0
[1次]
10:52:51 收到数据：#SetMotorsOn,0
10:53:29 发送数据：$GetStatus
[1次]
10:53:29 收到数据：#GetStatus,00100000001,0000
10:56:14 发送数据：$Execute,"Go XY(0, 450, 260, 90, 0, 180)"
[1次]
10:56:14 收到数据：#Execute,0
11:01:32 发送数据：$Execute,"Go XY(0, 450, 260, 90, 0, 180)"
[1次]
11:01:32 收到数据：#Execute,0
11:02:39 发送数据：$Execute,"move XY(0, 450, 260, 90, 0, 180)"
[1次]
11:02:39 收到数据：#Execute,0
11:03:58 发送数据：$Execute,"move XY(0, 450, 260, 90, 0, 180)"
[1次]
11:03:58 收到数据：#Execute,0
11:05:01 发送数据：$Execute,"Jump3 Here -TLZ(50), Pallet(1, 1) -TLZ(50), Pallet(1, 2)"
[1次]
11:05:08 收到数据：#Execute,0
13:37:56 发送数据：$Login,123,$r$n[1次]
13:37:56 收到数据：#Login,0
18:37:13 发送数据：$Execute,"move Here + x(50)"
[1次]
24 45 78 65 63 75 74 65 2C 22 6D 6F 76 65 20 48 65 72 65 20 2B 20 78 28 35 30 29 22 0D 0A
18:37:15 收到数据：#Execute,0
8:10:16 发送数据：$Execute,"move XY(cx(P0)+5, cy(p0), cz(p0), cu(p0), 0, 180)"
[1次]
8:10:18 收到数据：#Execute,0
8:02:48 发送数据：$Execute,"move XY(cx(P0), 450, 260, 90, 0, 180)"
[1次]
8:02:52 收到数据：#Execute,0
8:17:31 发送数据：$Execute,"print RealPos"
[1次]
8:17:31 收到数据：#Execute," X: 200.001 Y: 450.000 Z: 260.000 U: 90.000 V: 0.000 W: 179.999 /R /A /NF /J6F0 /J4F0 /0
"
8:59:20 发送数据：$Execute,"Tool 0"
[1次]
8:59:20 收到数据：#Execute,0
8:54:31 发送数据：$Execute,"print Pls(1)"
[1次]
8:54:31 收到数据：#Execute," 5729
"
8:55:31 发送数据：$Execute,"print Pls(2)"
[1次]
8:55:31 收到数据：#Execute," -40789
"
10:22:04 发送数据：$Execute,"P25=XY(0,0.1,0.2,0.3,0.4,0.5)/R/A"
[1次]
10:22:04 收到数据：#Execute,0
14:17:54 发送数据：$Execute,"PLabel 25, "pick""
[1次]
14:17:54 收到数据：#Execute,0
14:32:13 发送数据：$Execute,"P25=XY( -41.937,356.920,345.823, -42.691,14.518, -166.718)/R/A"
[1次]
14:32:13 收到数据：#Execute,0
14:33:11 发送数据：$Execute,"PLabel 25, "pick""
[1次]
14:33:11 收到数据：#Execute,0
14:32:13 发送数据：$Execute,"P25=XY( -41.937,356.920,345.823, -42.691,14.518, -166.718)/R/A"
[1次]
14:32:13 收到数据：#Execute,0
14:33:11 发送数据：$Execute,"PLabel 25, "pick""
[1次]
14:33:11 收到数据：#Execute,0
13:50:54 发送数据：$Execute," plist 10"
[1次]
13:50:54 收到数据：#Execute,"P10 = XY( 246.488, 259.917, -20.311, -0.440 ) /R /0 RotaryWait
"
13:53:52 发送数据：$Execute," plist 10 ,20"
[1次]
13:53:52 收到数据：#Execute,"P10 = XY( 246.488, 259.917, -20.311, -0.440 ) /R /0 RotaryWait
P11 = XY( 253.359, 276.309, -88.435, -1.387 ) /R /0 RotaryGet
P12 = XY( -275.063, 80.182, -21.663, 3.388 ) /R /0 ConveyerWait
P13 = XY( -275.063, 80.182, -51.558, 3.388 ) /R /0 ConveyerGet
P14 = XY( -277.911, 80.182, -87.741, 3.388 ) /R /0 ConveyerGet2
P15 = XY( -80.679, 303.231, -7.821, -176.860 ) /R /0 WastePutWait
P16 = XY( -80.679, 303.231, -29.471, -176.860 ) /R /0 WastePut
P17 = XY( 200.531, 279.717, -24.501, -19.951 ) /R /0 GrapImage
P20 = XY( 242.832, 268.062, -87.521, -1.939 ) /R /0 xia
"
9:30:46 发送数据：$Execute,"on 10 "
[1次]
19:30:46 收到数据：#Execute,0
19:31:16 发送数据：$Execute,"off 10"
[1次]
19:31:16 收到数据：#Execute,0
19:43:47 发送数据：$Execute,"print sw(9)"
[1次]
19:43:47 收到数据：#Execute," 1
"
19:45:32 发送数据：$Execute,"print sw(9)"
[1次]
19:45:32 收到数据：#Execute," 0
13:23:41 发送数据：$Execute,"Jump3 Here -TLZ(50), P0 -TLZ(50), P0"
[1次]
13:23:48 收到数据：#Execute,0
13:57:48 发送数据：$Execute,"Go Here -TLZ(50)"
[1次]
13:57:49 收到数据：#Execute,0
14:02:14 发送数据：$Execute,"pass p2"
[1次]
14:02:16 收到数据：#Execute,0
14:25:40 发送数据：$Execute,"pass p0;go p4"
[1次]
14:25:45 收到数据：#Execute,0
14:29:30 发送数据：$Execute,"pass p4;go p0"
[1次]
14:29:34 收到数据：#Execute,0
14:31:32 发送数据：$Execute,"Jump3 Here -TLZ(5), P0 -TLZ(50), P0"
[1次]
14:31:37 收到数据：#Execute,0
15:04:00 发送数据：$Execute,"pass p4; ON 10"
[1次]
15:04:02 收到数据：#Execute,0
15:05:03 发送数据：$Execute,"pass p4; OFF 10"
[1次]
15:05:03 收到数据：#Execute,0
9:54:14 发送数据：$Execute,"Hand P0, Lefty"
[1次]
9:54:14 收到数据：#Execute,0
9:54:57 发送数据：$Execute,"Plist 0"
[1次]
9:54:57 收到数据：#Execute,"P0 = XY( ****.***, ****.***, ****.***, ****.***, ****.***, ****.*** ) /L /AB* /NF* /J6F* /J4F* /0
"
9:55:50 发送数据：$Execute,"Plist 1"
[1次]
9:55:50 收到数据：#Execute,"P1 = XY( 291.057, 308.640, -10.000, -80.000, 0.000, 0.000 ) /L /A /NF /J6F0 /J4F0 /0 GetWait
"
9:56:48 发送数据：$Execute,"Hand P1, Righty"
[1次]
9:56:48 收到数据：#Execute,0
9:57:07 发送数据：$Execute,"Plist 1"
[1次]
9:57:07 收到数据：#Execute,"P1 = XY( 291.057, 308.640, -10.000, -80.000, 0.000, 0.000 ) /R /A /NF /J6F0 /J4F0 /0 GetWait
"
9:51:41 发送数据：$Execute,"Go XY(100, 450, 260, 90, 0, 180)/R /A /NF /J6F0 /J4F0"
[1次]
9:51:42 收到数据：#Execute,0
9:47:33 发送数据：$Execute,"print here"
[1次]
9:47:33 收到数据：#Execute," X: 100.000 Y: 450.000 Z: 260.000 U: 90.000 V: 0.000 W: 180.000 /R /A /NF /J6F0 /J4F0 /0
9:47:33 发送数据：go align(here,0)
要用到的指令
10:37:16 发送数据：$Login,123
[1次]
10:37:16 收到数据：#Login,0
9:49:36 发送数据：$Logout
[1次]
9:49:37 收到数据：#Logout,0
10:45:06 发送数据：$SetCurRobot,0
[1次]
10:45:06 收到数据：#SetCurRobot,0
10:52:51 发送数据：$SetMotorsOn,0
[1次]
10:52:51 收到数据：#SetMotorsOn,0
10:52:51 发送数据：$SetMotorsOFF,0
[1次]
10:52:51 收到数据：#SetMotorsOFF,0
10:52:00 发送数据：$Execute,"Reset"
[1次]
10:52:00 收到数据：#Execute,0
18:37:13 发送数据：$Execute,"move Here + x(50)"
[1次]
18:37:15 收到数据：#Execute,0
8:17:31 发送数据：$Execute,"print RealPos"
[1次]
8:17:31 收到数据：#Execute," X: 200.001 Y: 450.000 Z: 260.000 U: 90.000 V: 0.000 W: 179.999 /R /A /NF /J6F0 /J4F0 /0
"
9:51:41 发送数据：$Execute,"Go XY(0100.000, 0450.000, 0260.000, 0090.000, 0000.000, 0180.000)/R /A /NF /J6F0 /J4F0"
[1次]
9:51:42 收到数据：#Execute,0
13:16:12 发送数据：$Execute,"Go XY(0100.000, 0450.000, 0260.000, 0090.000, 0000.000, 0180.000)/R /A /NF /J6F0 /J4F0"
[1次]
13:16:14 收到数据：#Execute,0
13:16:12 发送数据：$Execute,"Go XY(-100.000, +450.000, 0260.000, 0090.000, 0000.000, 0180.000)/R /A /NF /J6F0 /J4F0"
[1次]
13:16:14 收到数据：#Execute,0
13:18:32 发送数据：$Execute,"Go XY( 100.000, 450.000, 260.000, 090.000, 000.000, 180.000)/R /A /NF /J6F0 /J4F0"
[1次]
13:18:33 收到数据：#Execute,0
9:51:41 发送数据：$Execute,"PASS(100, 450, 260, 90, 0, 180)/R /A /NF /J6F0 /J4F0"
[1次]
9:51:42 收到数据：#Execute,0
错误代码
错误代码 内容
10 远程命令未以$开头
11 远程命令错误
未执行Login
12 远程命令格式错误
13 Login命令密码错误
14 要获取的指定数量超出范围
（小于1或大于100）
忽略了要获取的数量
指定了一个字符串参数
15 参数不存在
参数尺寸错误
调用了超出了范围的元素
19 请求超时
20 控制器未准备好
21 因为正在运行Execute，所以无法执行
99 系统错误
通信错误
$Execute,"Go XY( 100.000, 450.000, 260.000, 090.000, 000.000, 180.000)/R /A /NF /J6F0 /J4F0"
下面勇哥把epson的帮助搬过来，以方便查阅。
分别为：远程以太网指令、指令输出结果、指令错误表
Remote Ethernet Command
Format: $ remote command {, parameter....} terminator
| Remote Command | Parameter | Contents | Input Acceptance Condition |
| Login | Password | Start the Controller Remote Ethernet function Authentication by password Execute Login correctly, commands execution is enabled until Logout | Available
any time (*10) |
| Logout | Exit Controller Remote Ethernet function After Logout, execute the Login command to start remote Ethernet function. Logout during task execution causes an error. | Available
any time (*10) | |
| Start | Function No. | Execute the function of specified number (*2) | Auto
ON Ready ON Error OFF EStop OFF Safeguard ON |
| Stop | Stop all tasks and commands | Auto ON | |
| Pause | Pause all tasks (*3) | Auto
ON Running ON | |
| Continue | Continue paused tasks | Auto
ON Paused ON | |
| Reset | Clear emergency stop and error (*4) | Auto
ON Ready ON | |
| SetMotorsOn | Turn ON the robot motor (*5) | Auto
ON Ready ON EStop OFF Safeguard OFF | |
| SetMotorsOff | Turn OFF the robot motor | Auto
ON Ready ON | |
| Home | Move the arm to home position defined by user | Auto
ON Ready ON Error OFF EStop OFF Safeguard OFF | |
| GetIO | I/O bit No. | Acquire the specified I/O bit | Available any time (*10) |
| SetIO | I/O bit No. & value | Set
the specified I/O bit 1: Turn ON the bit 0: Turn OFF the bit | Ready ON |
| GetIOByte | I/O port No. | Acquire the specified I/O port (8 bit) (*8) | Available
any time (*10) |
| SetIOByte | I/O port No. & value | Set the I/O specified port (8 bit) (*8) | Ready ON |
| GetIOWord | I/O word port No. | Acquire the specified I/O word port (16 bit) (*8) | Available
any time (*10) |
| SetIOWord | I/O word port No. & value | Set the I/O specified word port (8 bit) (*8) | Auto
ON Ready ON |
| GetMemIO | Memory I/O bit No. | Acquire the specified memory I/O bit (*8) | Available
any time (*10) |
| SetMemIO | Memory I/O bit No. & value | Set
the specified memory I/O bit (*8) 1: Turn ON the bit 0: Turn OFF the bit | Auto
ON Ready ON |
| GetMemIOByte | Memory I/O port No. | Acquire the specified memory I/O port (*8) | Available
any time (*10) |
| SetMemIOByte | Memory I/O port No. & value | Set the specified memory I/O port (8 bit) (*8) | Auto
ON Ready ON |
| GetMemIOWord | Memory I/O word port No. | Acquire the specified memory I/O word port (16 bit) (*8) | Available
any time (*10) |
| SetMemIOWord | Memory I/O word port No. & value | Set the specified memory I/O word port (16 bit) (*8) | Auto
ON Ready ON |
| GetVariable | Parameter name {, type} ____________________________ [Parameter name] (Array element), [Parameter name type], [Number to acquire] | Acquire the value of backup (Global Preserve) parameter (*6) _________________________________________________________ Acquire the value of backup (Global Preserve) array parameter (*7) | Available any time (*10) |
| SetVariable | Parameter name & value {, type} | Set the value in the backup (Global Preserve) parameter (*6) | Auto
ON Ready ON |
| GetStatus | Acquire the Controller state | Available any time (*10) | |
| Execute | Command string | Execute the command (*8) (*9) | Auto
ON Ready ON Error OFF EStop OFF Safeguard OFF |
| Abort | Abort the command execution (*8) | Auto ON |
(*1) The Controller state bit from GetStatus.
(*2) Execute the function specified in the Main[Function
No.].
| Function Name | Function No. |
| Main | 0 |
| Main1 | 1 |
| Main2 | 2 |
| Main3 | 3 |
| Main4 | 4 |
| Main5 | 5 |
| Main6 | 6 |
| Main7 | 7 |
(*3) Pause command is not available for “NoPause task” and “NoEmgAbort task”. For the details, refer to the help or the section “Pause” in the EPSON RC+5.0 Language reference manual.
(*4) I/O output will be turned OFF and the robot parameter will be initialized. For the details, refer to the help or the section “Reset” in the EPSON RC+5.0 Language reference manual.
(*5) The robot parameter will be initialized. For the details, refer to the help or the section “Motor” in the EPSON RC+5.0 Language reference manual.
(*6) Parameter type means {Boolean | Byte | Double |
Integer | Long | Real | String}.
Type specified: for the backup parameters
when the parameter name and type are same.
Type not specified: for the
backup parameters when the parameter names are same.
(7) Acquiring the value of array parameter is supported in the firmware Ver.1.10.*.* or later.
For the array element, specify an element you acquire as the following:
You need to specify an element if when acquiring from the head of the array.
You cannot omit the parameter type and number to acquire.
You cannot specify a string for the parameter type.
Available number to acquire is up to 100. If you specify a number over the number of array elements, you have an error.
e.g.) "$GetVariable,gby2(3,0),Byte,3"
Acquires values of gby2(3,0), gby2(3,1), gby2(3,2) of Byte type 2D array parameter gby2.
(*8) Following functions are supported in the firmware
1.13.*.* or later..
Acquiring and setting I/O port
Acquiring and setting I/O word port
Acquiring and setting memory I/O
Acquiring and setting memory I/O port
Acquiring and setting memory I/O word port
Execution and abortion of command
(*9) Specify the command and parameters in the double quotation marks.
Following commands are available while Execute is running.
Commands available while Execute is running
Remote Command
Abort
GetStatus
SetIO
SetIOByte
SetIOWord
SetMemIO
SetMemIOByte
SetMemIOWord
When the commands specified in (SetIO, SetIOByte, SetIOWord, SetMemIO, SetMemIOByte, SetMemIOWord) are the same and executed at the same time, the command executed later will result in error. Make sure to check the execution result by using GetStatus after the execution of Execute command and output command which the Execute command is being executed.
(*10) “Available anytime” applies only when the following conditions are met.
When “Remote Ethernet” is set as the control device, or “Remote Ethernet” is not set as the control device, but set to be used for monitoring.
Commands available for monitoring
When the Remote Ethernet control is not set as the control device but set to be used for monitoring, the following commands are only available to be executed.
| Remote command |
| Main |
| Login |
| Logout |
| GetIO |
| GetIOByte |
| GetIOWord |
| GetMemIO |
| GetMemIOByte |
| GetMemIOWord |
| GetVariable |
| GetStatus |
Remote Ethernet Response
When the Controller receives the command correctly, the response in the following format is shown in the executing command.
| Command | Format |
| Remote command that acquire the value Except GetIO, GetVariable, and GetStatus | #[Remote command],[0] terminator |
| GetIO | #GetIO,[0 | 1] terminator *1 |
| GetMemIO | #GetMemIO,[0 | 1] terminator *1 |
| GetIOByte | #GetIOByte,[ Hex string (00 to FF) of Byte (8Bit)] terminator |
| GetMemIOByte | #GetMemIOByte,[ Hex string (00 to FF) of Byte (8Bit)] terminator |
| GetIOWord | #GetIOWord,[ Hex string (0000 to FFFF) of Word (16Bit)] terminator |
| GetIOMemWord | #GetMemIOWord,[ Hex string (0000 to FFFF) of Word (16Bit)] terminator |
| GetVariable | # GetVariable,[Parameter value] terminator |
| GetVariable (array) | # GetVariable,[ Parameter value 1],[ Parameter value 2],...,terminator *4 |
| GetStatus | #GetStatus,[Status],[Error,
Warning code] terminator Example) #GetStatus,aaaaaaaaaa,bbbb *2 *3 |
| Execute | If
the value is returned as a result of command execution #Execute,”[Execution result]” terminator |
*1 [0 | 1] I/O bit ON: 1/ OFF: 0
*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
1 is ON
/0 is OFF
If Teach and Auto are ON, it is 1100000000.
*3 Error / Warning code
It is indicated in 4 digits. If there is no error and warning, it is 0000.
e.g.)1 : #GetStatus,0100000001,0000
The bits for Auto and Ready is ON (1).
This means that AutoMode is ON and be in Ready state. Command execution is enabled.
e.g.)2 : #GetStatus,0110000010,0517
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 |
| Warning | 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. |
| Paused | Turn ON with paused task |
| Running | Turn
ON with task executing Turn OFF when “Paused output” is ON |
| Ready | Turn ON with the Controller completed the startup and no task executing |
*4 It returns values of specified number in the Number to acquire.
Remote Ethernet Error Response
When the Controller can not receive the remote command correctly, the error response is shown in the following format.
Format: ![Remote command],[Error code] terminator
| Error Code | Contents |
| 10 | Remote command does not begin with $ |
| 11 | Remote
command is wrong Login is not executed |
| 12 | Remote command format is wrong |
| 13 | Login command password is wrong |
| 14 | Specified
number to acquire is out of range (Less than 1 or more than 100) Number to acquire is omitted Specified a string parameter |
| 15 | Parameter
does not exist Dimension of parameter is wrong Element out of range is called |
| 19 | Request time out |
| 20 | Controller is not ready |
| 99 | System
error Communication error |
Communication Sequence
---------------------
作者：hackpig
来源：www.skcircle.com
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