EPSON robot integration — RC+ plug-in

The EPSON RC90 controller sets the TCP/IP port directly in System Configuration. AIVE's IP (192.168.0.122) and port 1470 are registered on Port 201, with Protocol TCP and Terminator CR.

Before the plug-in, basic communication required sending the stroke first with Print #208, sending frequency and time separately, then managing the delay manually with Wait. The plug-in abstracts that whole sequence into a single Call AIVEManual(mm, hz, sec).

Provided commands: AIVEReady (motor ON + home), AIVELight(1/0) (lighting), AIVEMotion(1/2) (stored motion), AIVEManual(mm,hz,sec) (direct vibration). The AIVE base protocol (<C1> motor ON, <P1NNN> stroke, <P2NN,NN> frequency/time) is wrapped in RC+ functions.

The plug-in was distributed free to sites using EPSON RC+ with AIVE. The goal was that robot engineers shouldn't have to handle TCP/IP sequences directly. A setup connecting four AIVE SCARA units to feed four terminal types simultaneously was also verified on this plug-in.