# fanucpy: Python package for FANUC industrial robots
## Software contents
The package consists of two parts:
1. Robot interface code written in Python programming language
2. FANUC robot controller driver (tested with R-30iB Mate Plus Controller) written in KAREL and FANUC teach pendant languages
The communication protocol between the Python package and the FANUC robot controller is depicted below:
## Python package installation
```bash
pip install fanucpy
```
## Driver installation
Follow these [steps](https://github.com/torayeff/fanucpy/blob/main/fanuc.md) to install FANUC driver.
## Usage
### Connect to a robot:
```python
from fanucpy import Robot
robot = Robot(
robot_model="Fanuc",
host="192.168.1.100",
port=18735,
ee_DO_type="RDO",
ee_DO_num=7,
)
robot.connect()
```
### Moving
```python
# move in joint space
robot.move(
"joint",
vals=[19.0, 66.0, -33.0, 18.0, -30.0, -33.0],
velocity=100,
acceleration=100,
cnt_val=0,
linear=False
)
# move in cartesian space
robot.move(
"pose",
vals=[0.0, -28.0, -35.0, 0.0, -55.0, 0.0],
velocity=50,
acceleration=50,
cnt_val=0,
linear=False
)
```
### Opening/closing gripper
```Python
# open gripper
robot.gripper(True)
# close gripper
robot.gripper(False)
```
### Querying robot state
```python
# get robot state
print(f"Current pose: {robot.get_curpos()}")
print(f"Current joints: {robot.get_curjpos()}")
print(f"Instantaneous power: {robot.get_ins_power()}")
print(f"Get gripper state: {robot.get_rdo(7)}")
```
### Calling external program
```python
robot.call_prog(prog_name)
```
### Get/Set RDO
```python
robot.get_rdo(rdo_num=7)
robot.set_rdo(rdo_num=7, value=True)
```
### Get/Set DOUT
```python
robot.get_rdo(dout_num=1)
robot.set_rdo(dout_num=1, value=True)
```
## Contributions
External contributions are welcome!
- Agajan Torayev: Key developer
- Karol
- Fan Mo: Support with documentation
- Michael Yiu: External contributor
## RobotApp
We introduce an experimental feature: Robot Apps. This class facilitates modularity and plug-and-produce functionality. Check the following example apps:
1. [Pick and Place App](examples/PickAndPlaceApp.py)
1. [Aruco Tracking App](examples/ArucoTrackingApp.py)
1. [FANUC ChatGPT](examples/fanucpy-gpt/README.MD)
## Citation
Please use the following to cite if you are using this library in academic publications [Towards Modular and Plug-and-Produce Manufacturing Apps](https://www.sciencedirect.com/science/article/pii/S2212827122004255)
```
@article{torayev2022towards,
title={Towards Modular and Plug-and-Produce Manufacturing Apps},
author={Torayev, Agajan and Mart{\'\i}nez-Arellano, Giovanna and Chaplin, Jack C and Sanderson, David and Ratchev, Svetan},
journal={Procedia CIRP},
volume={107},
pages={1257--1262},
year={2022},
publisher={Elsevier}
}
```
## Acknowledgements
This work was developed at the [Institute for Advanced Manufacturing at the University of Nottingham](https://www.nottingham.ac.uk/ifam/index.aspx) as a part of the [Digital Manufacturing and Design Training Network](https://dimanditn.eu/).
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grant agreement No 814078.
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"description": "# fanucpy: Python package for FANUC industrial robots\n\n## Software contents\nThe package consists of two parts: \n1. Robot interface code written in Python programming language\n2. FANUC robot controller driver (tested with R-30iB Mate Plus Controller) written in KAREL and FANUC teach pendant languages\n\nThe communication protocol between the Python package and the FANUC robot controller is depicted below:\n\n\n## Python package installation\n```bash\npip install fanucpy\n```\n\n## Driver installation\nFollow these [steps](https://github.com/torayeff/fanucpy/blob/main/fanuc.md) to install FANUC driver.\n\n## Usage\n### Connect to a robot:\n```python\nfrom fanucpy import Robot\n\nrobot = Robot(\n robot_model=\"Fanuc\",\n host=\"192.168.1.100\",\n port=18735,\n ee_DO_type=\"RDO\",\n ee_DO_num=7,\n)\n\nrobot.connect()\n```\n\n### Moving\n```python\n# move in joint space\nrobot.move(\n \"joint\",\n vals=[19.0, 66.0, -33.0, 18.0, -30.0, -33.0],\n velocity=100,\n acceleration=100,\n cnt_val=0,\n linear=False\n)\n\n# move in cartesian space\nrobot.move(\n \"pose\",\n vals=[0.0, -28.0, -35.0, 0.0, -55.0, 0.0],\n velocity=50,\n acceleration=50,\n cnt_val=0,\n linear=False\n)\n```\n\n### Opening/closing gripper\n```Python\n# open gripper\nrobot.gripper(True)\n\n# close gripper\nrobot.gripper(False)\n```\n\n### Querying robot state\n```python\n# get robot state\nprint(f\"Current pose: {robot.get_curpos()}\")\nprint(f\"Current joints: {robot.get_curjpos()}\")\nprint(f\"Instantaneous power: {robot.get_ins_power()}\")\nprint(f\"Get gripper state: {robot.get_rdo(7)}\")\n```\n\n### Calling external program\n```python\nrobot.call_prog(prog_name)\n```\n\n### Get/Set RDO\n```python\nrobot.get_rdo(rdo_num=7)\nrobot.set_rdo(rdo_num=7, value=True)\n```\n\n### Get/Set DOUT\n```python\nrobot.get_rdo(dout_num=1)\nrobot.set_rdo(dout_num=1, value=True)\n```\n\n## Contributions\nExternal contributions are welcome!\n\n- Agajan Torayev: Key developer\n- Karol\n- Fan Mo: Support with documentation\n- Michael Yiu: External contributor\n\n\n## RobotApp\nWe introduce an experimental feature: Robot Apps. This class facilitates modularity and plug-and-produce functionality. Check the following example apps:\n\n1. [Pick and Place App](examples/PickAndPlaceApp.py)\n1. [Aruco Tracking App](examples/ArucoTrackingApp.py)\n1. [FANUC ChatGPT](examples/fanucpy-gpt/README.MD)\n\n## Citation\nPlease use the following to cite if you are using this library in academic publications [Towards Modular and Plug-and-Produce Manufacturing Apps](https://www.sciencedirect.com/science/article/pii/S2212827122004255)\n```\n@article{torayev2022towards,\n title={Towards Modular and Plug-and-Produce Manufacturing Apps},\n author={Torayev, Agajan and Mart{\\'\\i}nez-Arellano, Giovanna and Chaplin, Jack C and Sanderson, David and Ratchev, Svetan},\n journal={Procedia CIRP},\n volume={107},\n pages={1257--1262},\n year={2022},\n publisher={Elsevier}\n}\n```\n\n## Acknowledgements\nThis work was developed at the [Institute for Advanced Manufacturing at the University of Nottingham](https://www.nottingham.ac.uk/ifam/index.aspx) as a part of the [Digital Manufacturing and Design Training Network](https://dimanditn.eu/).\n\nThis project has received funding from the European Union\u2019s Horizon 2020 research and innovation programme under the Marie Sk\u0142odowska-Curie grant agreement No 814078.\n",
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