Hello,
I am trying to use Socket Messaging to send and receive data from a Fanuc robot. Currently, I do not have a physical robot, so I am using Roboguide (v 6.40 Rev. H).
I have configured the virtual controller for socket messaging according to the Fanuc manual. I have configured the robot controller to be the server.(I also tried with the robot as the client, with the same results) I created a client application on the PC side to connect to the robot. There are two sample robot programs that I found in the documentation for performing simple reads and writes using Socket Messaging. I was able to connect, but then the program would fail. I commented out the read operations from the program, and the write operations worked just fine. I am able to send data from the robot controller to the client application on the PC. I restored the read operations, then added some error handling and extra messages to determine the cause of the problem. When I write data to the robot, for instance 10 bytes of data, the robot senses that there are 10 bytes of data available. When I try to read that data, I get an error code of “2051” using IO_STATUS, after which any subsequent reads or writes also fail. Error code 2051 is not documented as an IO error in the Fanuc manual. I used POST_ERR to try to get a better description of the error, and this gives me “FILE-051 NESTED kread issued”.
Has anyone experienced this problem before? I have attached the Karel program that I am using. It is a slightly modified version of the example program in section 10.6.3 of the “FANUC Robotics SYSTEM R-30iA Controller Internet Options Setup and Operations Manual”. Any help would be much appreciated.