| Name | faroc JSON |
| Version |
0.7.5
JSON |
| download |
| home_page | |
| Summary | FaRoC (Fanuc Robot Control): a Python package for FANUC industrial robots |
| upload_time | 2023-04-03 13:23:05 |
| maintainer | |
| docs_url | None |
| author | |
| requires_python | >=3.6 |
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| keywords |
fanuc
robot
development
|
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# FaRoC (Fanuc Robot Control)
[](https://pypi.org/project/faroc/)
[](https://pypi.org/project/faroc/)
[](https://pypi.org/project/faroc/)
[](https://choosealicense.com/licenses/apache-2.0/)
[](https://www.onerobotics.com/posts/2013/introduction-to-karel-programming/)
[](https://pypi.org/project/faroc/)
[](https://pypi.org/project/faroc/)
[](https://nogithub.codeberg.page/)
[](https://codeberg.org/hojak/faroc/)
A Python library for communication with Fanuc robots.
It can read data from the controller, write data to the controller, execute TP and Karel program, and move the robot.
## Functionality and features
FaRoC is based on two works:
- fanucpy: Python package for FANUC industrial robots (https://github.com/torayeff/fanucpy)
- Fanuc DPM Mouse Demo (https://github.com/gavanderhoorn/fanuc_dpm_mouse_demo)
Fanucpy uses ASCII data transfer, whereas FaRoC uses BINARY data transfer for these reasons:
Quote from KAREL Reference Manual:
"Binary I/O is preferred to text I/O when creating files that are to be read only by KAREL programs for the following reasons:
- Positional, VECTOR, and PATH variables cannot be read directly from text input.
- Some formats and data combinations are not read in the same manner as they were written in text files or they become invalid if read with the same format.
- Binary data is generally more compact, reducing both the file size and the I/O time.
- There is some inevitable loss of precision when converting from REAL data to its ASCII
representation and back.
Generally, no format specifiers need to be used with binary I/O. If this rule is followed, all input data can
be read exactly as it was before it was written."
Fanucpy has these functionalities so far:
| Attribute | Funktion |
|---|---|
| Current joint values (JOINTPOS) | GET |
| Current pose (XYZWPR, without config) | GET |
| TP Program <br />- uses `CALL_PROG` | START |
| Move Robot to a given JOINTPOS <br />- uses `CALL_PROG` | START
| Move Robot to a given XYZWPR <br />- uses `CALL_PROG` | START
| I/O -> Robot OUT (RO) | GET, SET |
| Instantaneous power consumption | GET |
When the robot is moved using the standard move method by specifying the XYZWPR position, the configuration cannot be specified explicitly.
Instead, the current configuration of the robot is used by the controller to uniquely determine the pose.
Due to Fanucpy's ASCII data transfer, the data must be converted to strings before transfer. Fanucpy rounds the data to the third decimal place, which may not be sufficient for some applications.
Furthermore, the `CALL_PROG` method included in Karel is used when external TP programs are executed or when the robot is moved, but this interrupts the running program.
The calling program, e.g. mapdk_server.kl, is not resumed until the program started by `CALL_PROG` or the robot movement is finished.
During the interruption no communication between client and server is possible.
FaRoC provides the functionalities described in fanucpy and extends them by further functions:
| Attribute | Funktion |
|---|---|
| Current joint values (JOINTPOS) | GET |
| Current pose (XYZWPR and config) | GET |
| External Program (KAREL or TP) <br />- uses `RUN_TASK` or `CALL_PROG` | START, ABORT,<br /> GET TYPE, CHECK STATUS, GET TASK INFO |
| Move Robot to a given JOINTPOS <br />- uses `RUN_TASK` or `CALL_PROG` <br />- change one or more joint values | START, ABORT
| Move Robot to a given XYZWPR <br />- uses `RUN_TASK` or `CALL_PROG` <br />- change one or more pose values | START, ABORT
| I/O -> Robot OUT (RO) | GET, SET |
| I/O -> SIUMLATED Robot IN (RI) | GET |
| System variables <br />- supported types: REAL, INTEGER, BOOLEAN, BYTE, SHORT and STRING | GET, SET, GET TYPE |
| Program variables <br />- supported types: REAL, INTEGER, BOOLEAN, BYTE, SHORT and STRING | GET, SET, GET TYPE |
| Robot USER or TOOL frame | GET, SET |
| number of the used USER or TOOL frame | GET, SET |
| KAREL internal USER or TOOL frame | GET, SET |
| I/O -> Flag | GET, SET |
| DATA Regsiter ( R ) | GET, SET |
| Comment for DATA Regsiter | GET, SET |
| DATA String Regsiter (SR) | GET, SET |
| Comment for DATA String Regsiter | GET, SET |
| Position Regsiter (PR) | GET, SET, GET TYPE |
| Pose (XYZWPR) | IS REACHABLE, CONVERT TO JOINTPOS |
| Joint values (JOINTPOS) | IS REACHABLE, CONVERT TO XYZWPR |
| RSI | ENABLE, DISABLE, IS ENABLE |
| Robot Time | GET, SET |
| Fanuc alarm code / KAREL status | Provide error details |
With FaRoC both of the methods `CALL_PROG` and `RUN_TASK` included in KAREL can be used to execute external TP or KAREL programs or to move the robot.
Unlike `CALL_PROG`, the program called by `RUN_TASK` runs in parallel with the calling program.
So the communication with the client is not interrupted and the server can still answer requests.
To provide Fanuc alarm code / KAREL status details, data has been extracted from the FANUC manual:
OPERATOR'S MANUAL (Alarm Code List) | R-30+B CONTROLLER | B-83284EN-1/02.
## Software contents
The package consists of two parts:
1. Robot interface code written in Python programming language
2. FANUC robot controller driver written in KAREL and FANUC teach pendant languages
## Requirements
The following is needed for FaRoC software to work:
- Roboguide or physical robot
- R-30iB controller (`V8.xx` and up), with:
- `R632` - KAREL
- `R648` - User Socket Msg
- Python `>= 3.6`
To develop and test this software, a [Fanuc M-900iB/700 ](https://www.fanuc.eu/de/de/roboter/roboterfilter-seite/m-900-serie/m-900ib-700)
robot with an R-30iB controller (`V8.30`) was used. [Roboguide](https://www.fanuc.eu/uk/en/robots/accessories/roboguide) version 9 (Rev.Z) was also used.
## Python package installation
```bash
pip install faroc
```
## Driver Building
You can use the command line OR Roboguide to build the *.kl files contained in `src\fanuc-driver\`.
### Command line
If `ktrans.exe` is not installed in the default location (ie:`C:\Program Files (x86)\Fanuc\WinOLPC\bin`),
open `build.cmd` from `src` -> `fanuc-driver` and update the `KTRANS_BIN` variable.
If `ktrans.exe` is on the Windows `PATH`, simply setting it to `ktrans.exe` should also work.
If you need to build for a runtime software version other than `V8.30`, change `CORE_VERSION` as well.
Tip: You can use `REM` to comment a line.
Now run `build.cmd` in a command shell.
```cmd
.\build
```
Six p-code files should be created.
### Roboguide
Open `build.cmd` from `src` -> `fanuc-driver`.
Add all Karel programs listed in `build.cmd` and the three TP programs (`*.ls` files) to your Roboguide
workcell and build them.
## Driver Installation
Roboguide should have automatically uploaded the Karel programs to the virtual controller.
Loading the TP program should copy it as well.
If `build.cmd` was used, add the `.pc` and `.ls` files to the project and
load them onto the (virtual) controller. Alternatively an FTP client could be
used.
## Configuration
### Host Comm (SERVER)
Setup two *Server Tags*, Nr. 7 & 8, to use the `SM` protocol and make sure to set
`Startup State` to `START`. Use the `[ACTION]` menu to start the Tag
immediately, or restart the controller. The SETUP Server config can be found in MENU -> SETUP -> Host Comm. -> SHOW -> Servers.
### FaRoC_SERVER
Open the *KAREL Vars* on the controller for `FaRoC_SERVER` (after selecting it, i.e. SELECT -> FaRoC_Server -> ENTER -> MENU -> DATA -> KAREL Vars), switch to the `cfg_` field, open the
structure and enter the following values:
```
S_TCP_PORT : 24087
S_TAG_NR : 7
UM_CLEAR : TRUE
```
### Configure the rest automatically
Now you can start the TP program `FAROC`. On the computer initialize an object of class `FaRoC_Writer` and connect it to the server.
The rest of the configuration can be done with the script `demo_FaRoC_setup.py`.
Finally, you will have to restart the controller to apply the changes.
Otherwise you can do it manually as follows:
### Configure the rest manually
#### FaRoC_MOVER
Open the *KAREL Vars* for `FaRoC_MOVER`, switch to the `cfg_` field, open the
structure and enter the following values:
```
S_TCP_PORT : 24088
S_TAG_NR : 8
UM_CLEAR : FALSE
UFRAM_NUM : 1
UTOOL_NUM : 1
```
#### Host Comm (CLIENT)
In order to use `FaRoC_dclnt1` set up a *Client Tags*, e.g. No. 1 to use the `SM` protocol and
make sure the `Startup State` is set to `START`.
Set `Server IP/Hostname` to the ip adress of the pc you want to use for socket messaging, e.g. `127.0.0.1` in case of Roboguide.
Use the `[ACTION]` menu to start the Tag immediately, or restart the controller.
We use binary data transfare, so we need to set the system variable`$HOSTC_CFG[1].$USE_UDP` to `TRUE`
A *cleint tag* is configured for each data client. You can configure up to 8 data clients if required.
Each client can send up to 32 variables.
If more data is needed simultaneously, new Data Clients (Karel programme) can simply be copied (the programme name must be changed in the file) and new 'client tags' can be configured as above.
## Disclaimer
The author of this software is not affiliated with FANUC Corporation in any way.
All trademarks and registered trademarks are property of their respective owners, and company, product and service names mentioned in this readme or appearing in source code or other artefacts in this repository are used for identification purposes only.
Use of these names does not imply endorsement by FANUC Corporation.
## References
Below is a list of resources that have been used as reference and inspiration for the development of FaRoc.
- [fanucpy](https://github.com/torayeff/fanucpy): Python package for FANUC industrial robots
- [Fanuc DPM Mouse Demo](https://github.com/gavanderhoorn/fanuc_dpm_mouse_demo)
- OPERATOR'S MANUAL (Alarm Code List) | R-30+B CONTROLLER | B-83284EN-1/02
Raw data
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"author_email": "Wael Hojak <w.hojak@tutamail.com>",
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"description": "# FaRoC (Fanuc Robot Control)\n\n[](https://pypi.org/project/faroc/)\n[](https://pypi.org/project/faroc/)\n[](https://pypi.org/project/faroc/)\n[](https://choosealicense.com/licenses/apache-2.0/)\n[](https://www.onerobotics.com/posts/2013/introduction-to-karel-programming/)\n[](https://pypi.org/project/faroc/)\n[](https://pypi.org/project/faroc/)\n[](https://nogithub.codeberg.page/)\n[](https://codeberg.org/hojak/faroc/)\n\n\nA Python library for communication with Fanuc robots. \nIt can read data from the controller, write data to the controller, execute TP and Karel program, and move the robot.\n\n\n## Functionality and features \nFaRoC is based on two works: \n\n - fanucpy: Python package for FANUC industrial robots (https://github.com/torayeff/fanucpy)\n - Fanuc DPM Mouse Demo (https://github.com/gavanderhoorn/fanuc_dpm_mouse_demo)\n\n\nFanucpy uses ASCII data transfer, whereas FaRoC uses BINARY data transfer for these reasons:\n\n\nQuote from KAREL Reference Manual: \n\n\"Binary I/O is preferred to text I/O when creating files that are to be read only by KAREL programs for the following reasons:\n\n - Positional, VECTOR, and PATH variables cannot be read directly from text input.\n - Some formats and data combinations are not read in the same manner as they were written in text files or they become invalid if read with the same format.\n - Binary data is generally more compact, reducing both the file size and the I/O time.\n - There is some inevitable loss of precision when converting from REAL data to its ASCII\nrepresentation and back.\n\nGenerally, no format specifiers need to be used with binary I/O. If this rule is followed, all input data can\nbe read exactly as it was before it was written.\"\n\nFanucpy has these functionalities so far:\n\n | Attribute | Funktion |\n |---|---|\n | Current joint values (JOINTPOS) | GET |\n | Current pose (XYZWPR, without config) | GET |\n | TP Program <br />- uses `CALL_PROG` | START |\n | Move Robot to a given JOINTPOS <br />- uses `CALL_PROG` | START\n | Move Robot to a given XYZWPR <br />- uses `CALL_PROG` | START\n | I/O -> Robot OUT (RO) | GET, SET |\n | Instantaneous power consumption | GET |\n \nWhen the robot is moved using the standard move method by specifying the XYZWPR position, the configuration cannot be specified explicitly. \nInstead, the current configuration of the robot is used by the controller to uniquely determine the pose.\n\nDue to Fanucpy's ASCII data transfer, the data must be converted to strings before transfer. Fanucpy rounds the data to the third decimal place, which may not be sufficient for some applications. \n\nFurthermore, the `CALL_PROG` method included in Karel is used when external TP programs are executed or when the robot is moved, but this interrupts the running program. \nThe calling program, e.g. mapdk_server.kl, is not resumed until the program started by `CALL_PROG` or the robot movement is finished.\nDuring the interruption no communication between client and server is possible.\n\n\nFaRoC provides the functionalities described in fanucpy and extends them by further functions:\n\n | Attribute | Funktion |\n |---|---|\n | Current joint values (JOINTPOS) | GET |\n | Current pose (XYZWPR and config) | GET |\n | External Program (KAREL or TP) <br />- uses `RUN_TASK` or `CALL_PROG` | START, ABORT,<br /> GET TYPE, CHECK STATUS, GET TASK INFO |\n | Move Robot to a given JOINTPOS <br />- uses `RUN_TASK` or `CALL_PROG` <br />- change one or more joint values | START, ABORT\n | Move Robot to a given XYZWPR <br />- uses `RUN_TASK` or `CALL_PROG` <br />- change one or more pose values | START, ABORT\n | I/O -> Robot OUT (RO) | GET, SET |\n | I/O -> SIUMLATED Robot IN (RI) | GET |\n | System variables <br />- supported types: REAL, INTEGER, BOOLEAN, BYTE, SHORT and STRING | GET, SET, GET TYPE |\n | Program variables <br />- supported types: REAL, INTEGER, BOOLEAN, BYTE, SHORT and STRING | GET, SET, GET TYPE |\n | Robot USER or TOOL frame | GET, SET |\n | number of the used USER or TOOL frame | GET, SET |\n | KAREL internal USER or TOOL frame | GET, SET |\n | I/O -> Flag | GET, SET |\n | DATA Regsiter ( R ) | GET, SET |\n | Comment for DATA Regsiter | GET, SET |\n | DATA String Regsiter (SR) | GET, SET |\n | Comment for DATA String Regsiter | GET, SET |\n | Position Regsiter (PR) | GET, SET, GET TYPE |\n | Pose (XYZWPR) | IS REACHABLE, CONVERT TO JOINTPOS |\n | Joint values (JOINTPOS) | IS REACHABLE, CONVERT TO XYZWPR |\n | RSI | ENABLE, DISABLE, IS ENABLE |\n | Robot Time | GET, SET |\n | Fanuc alarm code / KAREL status | Provide error details |\n \nWith FaRoC both of the methods `CALL_PROG` and `RUN_TASK` included in KAREL can be used to execute external TP or KAREL programs or to move the robot. \nUnlike `CALL_PROG`, the program called by `RUN_TASK` runs in parallel with the calling program. \nSo the communication with the client is not interrupted and the server can still answer requests.\n\nTo provide Fanuc alarm code / KAREL status details, data has been extracted from the FANUC manual: \nOPERATOR'S MANUAL (Alarm Code List) | R-30+B CONTROLLER | B-83284EN-1/02.\n\n\n## Software contents\nThe package consists of two parts: \n\n1. Robot interface code written in Python programming language\n2. FANUC robot controller driver written in KAREL and FANUC teach pendant languages\n\n\n## Requirements\n\nThe following is needed for FaRoC software to work:\n - Roboguide or physical robot\n - R-30iB controller (`V8.xx` and up), with:\n - `R632` - KAREL\n - `R648` - User Socket Msg\n - Python `>= 3.6`\n\nTo develop and test this software, a [Fanuc M-900iB/700 ](https://www.fanuc.eu/de/de/roboter/roboterfilter-seite/m-900-serie/m-900ib-700) \nrobot with an R-30iB controller (`V8.30`) was used. [Roboguide](https://www.fanuc.eu/uk/en/robots/accessories/roboguide) version 9 (Rev.Z) was also used.\n \n\n## Python package installation\n```bash\npip install faroc\n```\n\n## Driver Building\nYou can use the command line OR Roboguide to build the *.kl files contained in `src\\fanuc-driver\\`.\n\n### Command line\n\nIf `ktrans.exe` is not installed in the default location (ie:`C:\\Program Files (x86)\\Fanuc\\WinOLPC\\bin`), \nopen `build.cmd` from `src` -> `fanuc-driver` and update the `KTRANS_BIN` variable. \nIf `ktrans.exe` is on the Windows `PATH`, simply setting it to `ktrans.exe` should also work.\n\nIf you need to build for a runtime software version other than `V8.30`, change `CORE_VERSION` as well.\n\nTip: You can use `REM` to comment a line.\n\nNow run `build.cmd` in a command shell.\n\n```cmd\n.\\build\n```\nSix p-code files should be created.\n\n\n### Roboguide\nOpen `build.cmd` from `src` -> `fanuc-driver`.\nAdd all Karel programs listed in `build.cmd` and the three TP programs (`*.ls` files) to your Roboguide\nworkcell and build them.\n\n\n## Driver Installation\n\nRoboguide should have automatically uploaded the Karel programs to the virtual controller. \nLoading the TP program should copy it as well.\n\nIf `build.cmd` was used, add the `.pc` and `.ls` files to the project and\nload them onto the (virtual) controller. Alternatively an FTP client could be\nused.\n\n\n\n## Configuration\n\n### Host Comm (SERVER)\n\nSetup two *Server Tags*, Nr. 7 & 8, to use the `SM` protocol and make sure to set\n`Startup State` to `START`. Use the `[ACTION]` menu to start the Tag\nimmediately, or restart the controller. The SETUP Server config can be found in MENU -> SETUP -> Host Comm. -> SHOW -> Servers.\n\n\n### FaRoC_SERVER\nOpen the *KAREL Vars* on the controller for `FaRoC_SERVER` (after selecting it, i.e. SELECT -> FaRoC_Server -> ENTER -> MENU -> DATA -> KAREL Vars), switch to the `cfg_` field, open the\nstructure and enter the following values:\n\n```\nS_TCP_PORT : 24087\nS_TAG_NR : 7\nUM_CLEAR : TRUE\n```\n\n\n### Configure the rest automatically\n\nNow you can start the TP program `FAROC`. On the computer initialize an object of class `FaRoC_Writer` and connect it to the server. \nThe rest of the configuration can be done with the script `demo_FaRoC_setup.py`. \n\nFinally, you will have to restart the controller to apply the changes. \n\n\nOtherwise you can do it manually as follows:\n\n\n### Configure the rest manually\n\n\n#### FaRoC_MOVER\nOpen the *KAREL Vars* for `FaRoC_MOVER`, switch to the `cfg_` field, open the\nstructure and enter the following values:\n\n```\nS_TCP_PORT : 24088\nS_TAG_NR : 8\nUM_CLEAR : FALSE\nUFRAM_NUM : 1\nUTOOL_NUM : 1\n```\n\n#### Host Comm (CLIENT)\n\nIn order to use `FaRoC_dclnt1` set up a *Client Tags*, e.g. No. 1 to use the `SM` protocol and \nmake sure the `Startup State` is set to `START`. \nSet `Server IP/Hostname` to the ip adress of the pc you want to use for socket messaging, e.g. `127.0.0.1` in case of Roboguide.\nUse the `[ACTION]` menu to start the Tag immediately, or restart the controller. \n\nWe use binary data transfare, so we need to set the system variable`$HOSTC_CFG[1].$USE_UDP` to `TRUE` \n\n\nA *cleint tag* is configured for each data client. You can configure up to 8 data clients if required.\n Each client can send up to 32 variables. \nIf more data is needed simultaneously, new Data Clients (Karel programme) can simply be copied (the programme name must be changed in the file) and new 'client tags' can be configured as above.\n\n\n## Disclaimer\n\nThe author of this software is not affiliated with FANUC Corporation in any way.\nAll trademarks and registered trademarks are property of their respective owners, and company, product and service names mentioned in this readme or appearing in source code or other artefacts in this repository are used for identification purposes only.\nUse of these names does not imply endorsement by FANUC Corporation.\n\n\n## References\n\nBelow is a list of resources that have been used as reference and inspiration for the development of FaRoc.\n\n- [fanucpy](https://github.com/torayeff/fanucpy): Python package for FANUC industrial robots\n- [Fanuc DPM Mouse Demo](https://github.com/gavanderhoorn/fanuc_dpm_mouse_demo)\n- OPERATOR'S MANUAL (Alarm Code List) | R-30+B CONTROLLER | B-83284EN-1/02\n",
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