Fanuc Tcp/Ip app with Karel

    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!

    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.

    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!

    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?

    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]

    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.

    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).

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

    Post your actual code. Should look like:

    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.

    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

    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

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