Fanuc Stream motion

    So I have an upcoming project on which we need to send GCode to a robot.

    I have created a VB.NET program which reads the GCode file and will stream the points to the robot via J519 Stream Motion. Or this should be the final result at least.

    Currently I am still trying everything in Roboguide and my VB program communicates with the robot in roboguide (via IP 127.0.0.1) fine. I can send the start packet, and receive the status packet. I can also send the motion command packet, but the robot just does not move.

    Currently the VB program sends no GCode, but reads the robots current position, adds 0.5mm to the X,Y and Z coördinates and sends them back with the motion command. Whatever I try the robot tells me the position is not reachable (MOTN-018 Position not reachable (G:%d^2)) even if i try adding 1 mm or 0.1 mm, nothing works. Always the same error.

    What am I doing wrong here?

    EDIT: is there a way on the robot to see incoming data? Because sometimes I also get the error MOTN-625 ST: Position data is abnormal (sq.252, i:2).

    This error is not consistent so if I could check what the robot actually receives that would help a lot in my debugging.

  • Lemster68 February 22, 2024 at 9:05 PM

    Approved the thread.

    I am trying to interface Roboguide with MATLAB to control a Fanuc robot using a MATLAB program. In another forum, it was suggested to use the Stream Motion software option for this purpose. However, I am unsure how to obtain and utilize this software. How could you first get that?

    Quote from MANIKANDAN_S

    I am trying to interface Roboguide with MATLAB to control a Fanuc robot using a MATLAB program. In another forum, it was suggested to use the Stream Motion software option for this purpose. However, I am unsure how to obtain and utilize this software. How could you first get that?

    You would have to contact Fanuc to get that option installed onto your controller. However they strongly advice against it as it's no longer supported (they had a lot of issues with mechanical failure due to jerk and vibrations when using this option).

    For the above GCode project, we ended up using their RMI option (Remote Motion Interface). Which worked well. But also, to obtain the software option you have to contact Fanuc.

    My objective is connecting roboguide with matlab not a real robot. The other options are also okay for me. Because it is my academic project. So, I do not take risks in hardware. Also my real Robot not having an karel,socket messeaging like that options.Because of that, I go to the Roboguide. Can you suggest any other option or method to do this?

    If it's just with Roboguide it should be easy.

    When serializing a robot, at the robot options screen you can choose "Remote Motion R912". And try to find the Remote Motion Manual from Fanuc. Unfortunately we are not allowed to post them here.

    All you have to do then is send the correct tcp/ip messages to 127.0.0.1 (IP Address of robot in Roboguide).

    Long story short (you will find the long story in the manual): you have to send string messages to the robot, these messages can connect the robot, reset it, and send motion instructions to the robot.

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