fanuc-sm

Sample Python application for Socket Messaging with Fanuc

Required Fanuc Options

• R632: Karel (Available by default in R-30iB Plus Controller)
• R648: User Socket Message
• R796: ASCII Program Loader (Optional)

Check the availability of above options by going to MENU -> -- NEXT -- -> STATUS -> VERSION ID -> ORDER FI

ROBOGUIDE

Setup

In this setup, Robot acts as Socket Server and Python Application as Client. Following are the steps to set up Socket Communication in ROBOGUIDE Teach Pendant:

1. Host Communication Setup:

   • Network Setup

     • Go to MENU -> SETUP -> Host Comm -> TCP/IP
     • Since ROBOGUIDE Cell uses localhost IP address 127.0.0.1 by default; no need to modify these settings while working locally.

   • Server Tag Setup

     • Go to MENU -> SETUP -> Host Comm -> [SHOW] -> Servers -> S8 -> DETAIL (Select the tag you want to set up for Socket Messaging, here tag 8 is selected)
     • Set Protocol -> [CHOICE] -> SM
     • Set Port -> PORT_NUM (Port Number to be used for Socket Messaging)
     • Set Startup State -> [CHOICE] -> START
     • Set [ACTION] -> DEFINE
     • Set [ACTION] -> START

2. System Variable Setup

   • Go to MENU -> Next -> SYSTEM -> Variables -> $HOSTS_CFG
   • Go to the structure element corresponding to the tag selected previously, [8] in this case
   • Set $SERVER_PORT -> PORT_NUM (Port Number to be used for Socket Messaging)
   • If you want to communicate with UDP instead of TCP/IP, set $USE_UDP -> TRUE

For more information, refer to the section 10.3.2 of Fanuc Ethernet Function Operator's Manual

Build

In ROBOGUIDE Window,

• Go to Project -> Add Files. Select and Open the .ls and .kl file from the driver directory. The files can be found in the left pane at Workcell -> Robot Controllers -> Robot Controller1 -> Files
• Right click .kl file and Build the Karel Program
• Right click .ls file and Build the Robot Program

Run

In ROBOGUIDE Teach Pendant,

• Go to SELECT -> SERVER_TEST and Enter
• SHIFT + FWD to Start running the Program

In a Windows Terminal, run

python client.py

Real Robot

Coming Soon...

References

Fanuc Ethernet Function Operator's Manual

Fanuc Karel Reference Manual Rev H