Overview of the Controller Function
This option enables control of the Epson robot controller from a PLC that supports the SRCI (Standard Robot Command Interface). The versions and operating environments supported by this option are described below.
Overview of supported functions
| Item | Support details |
|---|---|
| SRCI specifications | Conforms to version 1.5 |
| Supported SRCI functions | - All commands belonging to Core profile, and the SetOperationMode command - The trigger function and multi-robot function are not supported |
| Supported controllers | RC800-A、RC800L |
| Controller firmware version | Ver. 8.1.4.0 or later |
| Supported RC+ version | RC+ Ver. 8.1.4.0 or later |
| Supported Fieldbus | PROFINET |
List of supported SRCI commands
| Command type value | Command name | Command function overview |
|---|---|---|
| 2000 | ChangeSpeedOverride | Changes the speed override for the move command. |
| 9003 | CreateServerLog | Creates a snapshot of the event logging buffer inside the controller, the various system states, and the present command contents. |
| 1000 | EnableRobot | Enables the drive unit of the robot by setting the robot power status to "Enabled". |
| 2001 | GroupContinue | Continues the processing of an interrupted active sequence. |
| 2002 | GroupInterrupt | Interrupts the command in the active sequence. |
| 2100 | GroupJog | Performs manual jog operation of the TCP or robot joints. |
| 1001 | GroupReset | Deletes messages from the message buffer, and resets the controller state. |
| 2003 | GroupStop | Interrupts all commands in the active sequence. |
| 2101 | MoveAxesAbsolute | Instructs movement to the absolute position specified at the joint position. |
| 2102 | MoveDirectAbsolute | Moves the TCP position using PTP motion. |
| 2103 | MoveLinearAbsolute | Moves the TCP position using CP motion. |
| 5100 | ReadActualPosition | Reads the present position of the TCP. |
| - | ReadActualPositionCyclic | Periodically reads the present position of the robot. |
| 5102 | ReadFrameData | Reads the configuration of the defined user coordinate system. |
| 5103 | ReadLoadData | Reads the configuration of the defined load data. |
| 9001 | ReadMessage | Reads the errors, warnings, and information messages from the message buffer of the controller. |
| 9002 | ReadRobotData | Reads specific parameters from the controller. |
| 5202 | ReadRobotDefaultDynamics | Reads the default value of the speed, acceleration, and deceleration during robot movement. |
| 5105 | ReadRobotReferenceDynamics | Reads the reference values for speed, acceleration, deceleration, and other parameters during robot movement. |
| 5106 | ReadRobotSWLimit | Reads the software limit value of the robot axis. |
| 9004 | ReadServerLog | Reads the log from the controller. |
| 5107 | ReadToolData | Reads the settings of the defined tool. |
| 2104 | ReturnToPrimary | Moves the TCP up to the interrupt position in the primary sequence. |
| - | RobotTask | Processes multiple mechanisms necessary for the SRCI function to operate. |
| 1003 | SetOperationMode | Switches the operation mode. |
| 1004 | SetSequence | Changes the active sequence to primary or secondary. |
| 5200 | WriteFrameData | Writes the configuration data for the user coordinate system. |
| 5201 | WriteLoadData | Writes the load data. |
| 5202 | WriteRobotDefaultDynamics | Writes the default value of the speed, acceleration, and deceleration during robot movement. |
| 5203 | WriteRobotReferenceDynamics | Writes the reference value of the speed, acceleration, and deceleration during robot movement. |
| 5205 | WriteToolData | Writes the configuration data of the defined tool. |