Fanuc Tcp/Ip app with Karel

Damek123 · Feb 15th 2021

Greetings,

I want to make Python app that would communicate with Fanuc robot via TCP/IP. The goal is to select a program to run on TP.

I believe that I need to use Karel to read data from Python app. Is it possible to get some small piece of code as an example of how to do that?

I am totally new in Karel so it would be very helpful just to try some simple example of reading data and calling program in Karel via TCP/IP.

Thank You!

hermann · Feb 15th 2021

There are examples in the documentation of Fanuc. See also

Simple external HMI without PLC?

jmd2777 · Feb 17th 2021

Damek,

Its not a simple process. You will need to rely heavily on the Fanuc manual for Karel.

Here is an overview:

1. You must have Karel and User Socket Messaging software option on the robot

2. Configure a Socket Messaging server in the Host Comm settings of the robot. Pay attention to the SERVER_PORT setting.

3. Create the Karel program using the Socket commands. These are in the Karel manual. These will look like the following:

sock_var : FILE

STATUS : INTEGER

MSG_CONNECT('S3', STATUS) --Where S3 is the Server you configured for socket messaging.

OPEN FILE sock_var ('rw', 'S3') --Where sock_var is a variable you declared of type type FILE.

You will also need the commands READ, WRITE, BYTES_AHEAD, and MSG_DISCO.

hermann · Feb 18th 2021

With a request.get() and the above mentioned thread it should be easier to do the task.

Damek123 · Feb 21st 2021

Thank You. I am currently trying to establish a connection between the Fanuc robot in Roboguide and my Python app.

Is this even possible? I want the robot to be a client and the app needs to act as a server. Is it possible to simulate that kind of connection in Roboguide? Or it needs to be done on a real robot?

Thank You!

hermann · Feb 22nd 2021

Roboguide can do that.

Damek123 · Feb 22nd 2021

I tried to follow this topic :

TCP Karel Client not connecting to server

I did everything exactly the same but I am still not able to connect to my server.

What am I doing wrong? Do I need to adjust the client tag setup or something if I want to use Roboguide instead of a real robot?

Thank You!

Damek123 · Feb 22nd 2021

I managed to establish a connection. My next question is how to run the Karel program for connecting to the server and collecting data in the background? I don't want to call it from TP. I want to run it every time I start the controller. Is this possible?

hermann · Feb 22nd 2021

May be Background programs helps.

Damek123 · Feb 23rd 2021

I managed to establish a connection and run a simple program in Karel and in TP in parallel.

But I have a problem with Roboguide. It keeps crashing every time I manage to establish a connection. Also when I run Karel script parallel with a simple TP program (movements between two points) everything starts lagging and robot movements are very slow and in big steps.

What am I doing wrong? I attached Karel program and TP program.

-------------------------------

PROGRAM kc

%STACKSIZE = 4000

%NOLOCKGROUP

%NOPAUSE=ERROR+COMMAND+TPENABLE

%ENVIRONMENT uif

%ENVIRONMENT sysdef

%ENVIRONMENT kclop

%ENVIRONMENT bynam

%ENVIRONMENT fdev

%ENVIRONMENT flbt

%INCLUDE klevccdf

%INCLUDE klevkeys

%INCLUDE klevkmsk

VAR

file_var : FILE

tmp_int : INTEGER

tmp_str : STRING[128]

status : INTEGER

entry : INTEGER

loop1 : BOOLEAN

BEGIN

label::

SET_FILE_ATR(file_var, ATR_IA)

SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',8000,status)

WRITE(' VAR status = ',status,CR)

MSG_CONNECT('C1:',status)

WRITE(' Connect status = ',status,CR)

IF status = 1 THEN

GOTO label_2

ENDIF

GOTO label

label_2::

MSG_PING('C1:',status)

IF status = 0 THEN

MSG_DISCO('C1:',status)

WRITE('Disconnect status=',status,CR)

GOTO label

ENDIF

GOTO label_2

END kc

----------------------------------------------------

tp program:

---------------------------------------------------

RUN kc

LBL[1]

J PR[1] FINE 100%

J PR[2] FINE 100%

JLBL[1]

jmd2777 · Feb 23rd 2021

It looks like you created a loop with your GOTO statements without any DELAY in the loop. In KAREL you need a DELAY in a loop or it will take all of the CPU resources and lockup the controller. Try adding DELAY 50.

Damek123 · Feb 24th 2021

Thank You, I didn't know that. However, I tried to add some delays into the code but it still doesn't work correctly.

Every time when my loop is iterating in Karel the robot moves with lag. If I put a delay to 3000 for example, the lag occurs every 3 s. Any advice on how to solve that? (I am doing everything in Roboguide for now so I don't know if a real robot will behave in the same way).

hermann · Feb 24th 2021

Do you have only one delay in your code? Where exactly.

Post your actual code. Should look like:

Code

....... blabla ...
BEGIN
label::

delay 50 

SET_FILE_ATR(file_var, ATR_IA)
SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',8000,status)
WRITE(' VAR status = ',status,CR)
MSG_CONNECT('C1:',status)
WRITE(' Connect status = ',status,CR)
IF status = 1 THEN
 GOTO label_2
ENDIF
GOTO label
label_2::

delay 50 

MSG_PING('C1:',status)
IF status = 0 THEN
 MSG_DISCO('C1:',status)
 WRITE('Disconnect status=',status,CR)
 GOTO label
ENDIF
GOTO label_2
END kc

Display More

Damek123 · Feb 24th 2021

PROGRAM kc

%STACKSIZE = 4000

%NOLOCKGROUP

%NOPAUSE=ERROR+COMMAND+TPENABLE

%ENVIRONMENT uif

%ENVIRONMENT sysdef

%ENVIRONMENT kclop

%ENVIRONMENT bynam

%ENVIRONMENT fdev

%ENVIRONMENT flbt

%INCLUDE klevccdf

%INCLUDE klevkeys

%INCLUDE klevkmsk

VAR

file_var : FILE

tmp_int : INTEGER

tmp_str : STRING[128]

status : INTEGER

entry : INTEGER

loop1 : BOOLEAN

s : STRING[25]

BEGIN

MSG_DISCO('C1:',status)

label::

DELAY 100

SET_FILE_ATR(file_var, ATR_IA)

SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',8000,status)

WRITE(' VAR status = ',status,CR)

MSG_CONNECT('C1:',status)

WRITE(' Connect status = ',status,CR)

DELAY 100

IF status = 0 THEN

WRITE(' spojeno',status,CR)

MSG_DISCO('C1:',status)

DELAY 100

WRITE(' Odspojeno',status,CR)

ENDIF

DELAY 100

GOTO label

END kc

---------------------------------------

Yes, I tried with a few delays but I still get the same behavior.

Damek123 · Feb 24th 2021

Here is the full code. The idea is that the Karel program works in the background and on the Python app demands changes DO and get register values. I tested locally and everything works. The problem is only that when I run simultaneously Karel and TP program (a simple program that moves the robot through few points) the robot in Roboguide starts lagging and moving in big steps. I tried with a few delays but that didn't help. Any other ideas?

Thank you!

-----------------------------------------------------

PROGRAM kc_test

%STACKSIZE = 4000

%NOLOCKGROUP

%NOPAUSE=ERROR+COMMAND+TPENABLE

%ENVIRONMENT uif

%ENVIRONMENT sysdef

%ENVIRONMENT kclop

%ENVIRONMENT bynam

%ENVIRONMENT fdev

%ENVIRONMENT flbt

%ENVIRONMENT REGOPE

%INCLUDE klevccdf

%INCLUDE klevkeys

%INCLUDE klevkmsk

VAR

file_var : FILE

tmp_int : INTEGER

tmp_str : STRING[128]

status : INTEGER

entry : INTEGER

loop1 : BOOLEAN

broj_kom : INTEGER

status_2 : INTEGER

broj_kom_str : STRING[128]

r_val : REAL

rflag : BOOLEAN

BEGIN

MSG_DISCO('C1:',status)

label::

DELAY 100

SET_FILE_ATR(file_var, ATR_IA)

SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',8000,status)

WRITE(' VAR status = ',status,CR)

MSG_CONNECT('C1:',status)

WRITE(' Connect status = ',status,CR)

loop1 = TRUE

IF status = 0 THEN

WHILE loop1 = TRUE DO

DELAY 100

WRITE('Opening file...',CR)

OPEN FILE file_var('rw','C1:')

status = IO_STATUS(file_var)

IF status = 0 THEN

WRITE('Waiting to read from server...')

DELAY 100

READ file_var(tmp_str::2)

WRITE('Read: ',tmp_str::2,CR)

DELAY 100

IF tmp_str = 'P1' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[5] = ON

DELAY 500

ENDIF

IF tmp_str = 'P2' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[6] = ON

ENDIF

IF tmp_str = 'P3' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[7] = ON

ENDIF

IF tmp_str = 'P6' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[8] = ON

ENDIF

IF tmp_str = 'P9' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[9] = ON

ENDIF

IF tmp_str = '12' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[10] = ON

ENDIF

IF tmp_str = 'S6' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[11] = ON

ENDIF

IF tmp_str = 'S9' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[12] = ON

ENDIF

IF tmp_str = '13' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[13] = ON

ENDIF

IF tmp_str = '14' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[14] = ON

ENDIF

IF tmp_str = 'F6' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[15] = ON

ENDIF

IF tmp_str = '15' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[16] = ON

ENDIF

IF tmp_str = 'F9' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[17] = ON

ENDIF

IF tmp_str = 'CO' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[2] = ON

ENDIF

IF tmp_str = '99' THEN

DOUT[4] = ON

CLOSE FILE file_var

MSG_DISCO('C1:',status)

GOTO label

ENDIF

IF tmp_str = 'BR' THEN

GET_REG(1, rflag, broj_kom, r_val, status_2)

CNV_INT_STR(broj_kom, 0, 0, broj_kom_str)

WRITE file_var(broj_kom_str)

CLOSE FILE file_var

ENDIF

IF tmp_str = 'RS' THEN

SET_REAL_REG(1,0, status_2)

DELAY 50

GET_REG(1, rflag, broj_kom, r_val, status_2)

CNV_INT_STR(broj_kom, 0, 0, broj_kom_str)

WRITE file_var(broj_kom_str)

CLOSE FILE file_var

ENDIF

CLOSE FILE file_var

ELSE

GOTO label

ENDIF

ENDWHILE

ENDIF

DELAY 200

GOTO label

END kc_test

jmd2777 · Feb 24th 2021

Its possible that its just the graphics lagging in Roboguide.

Damek123 · Feb 25th 2021

Quote from jmd2777

Its possible that its just the graphics lagging in Roboguide.

Yeah, I think so too. I will test it soon on a real robot.

Thanks!

lemon132 · Jul 19th 2021

Hello, may i ask if you tested on a real robot ?

echolinq · Jan 18th 2022

I don't think there is anyway to do it "out of the box". I think you would have to use the socket messaging option and implement TCP/IP on your own. They way I have done it in the past is use a library that implemented Ethernet/IP messaging and communicated directly to the robot that way. I didn't use python but I have used C# and C++. I'm sure there's probably a python library out there.

c# implementation:

https://github.com/rossmann-engineering/EEIP.NET

Fanuc Tcp/Ip app with Karel

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