Fanuc Tcp/Ip app with Karel

Damek123 · February 15, 2021 at 2:38 PM

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 · February 15, 2021 at 10:00 PM

There are examples in the documentation of Fanuc. See also

Simple external HMI without PLC?

jmd2777 · February 17, 2021 at 9:35 PM

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 · February 18, 2021 at 8:54 AM

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

Damek123 · February 21, 2021 at 7:29 PM

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 · February 22, 2021 at 7:37 AM

Roboguide can do that.

Damek123 · February 22, 2021 at 10:37 AM

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 · February 22, 2021 at 11:12 AM

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 · February 22, 2021 at 12:54 PM

May be Background programs helps.

Damek123 · February 23, 2021 at 9:56 AM

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 · February 23, 2021 at 3:17 PM

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 · February 24, 2021 at 6:35 AM

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 · February 24, 2021 at 7:56 AM

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 · February 24, 2021 at 8:05 AM

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 · February 24, 2021 at 12:23 PM

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 · February 24, 2021 at 3:44 PM

Its possible that its just the graphics lagging in Roboguide.

Damek123 · February 25, 2021 at 6:25 AM

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 · July 19, 2021 at 9:42 AM

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

echolinq · January 18, 2022 at 5:07 PM

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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