Posts by linuxsand

Download page --> http://linuxsand.info/fanuc_tools/frstatusviewer.html

It integrates my free alarm codes website

Steps:

1. set an IP address for CD38A port (robot controller port 1) first, use ping to ensure the connectivity
2. load karel\v9_bin\varviewer.pc to robot controller (v8_bin, v7_bin also provided)
3. unlock HTTP: teach pendant -- menu -- setup -- HOST COMM -- 7 HTTP -- unlock KAREL:*
4. double click _FRStatusViewer.exe, input robot ip address, press Tab key

Known issues: It will not work if UOP signals are not configed.

Note:

* We are keep improving _FRStatusViewer.exe, you may need to load newer `varviewer.pc` to robot controller after newer version released.

* _FRStatusViewer.exe runs on Windows 10. It needs .NET Framework runtime version 4.6.1 or above on Windows 7 https://dotnet.microsoft.com/en-us/download/dotnet-framework

Site is up. --> http://linuxsand.info/fanuc/

My (virtual) host machine reboot caused this downtime, and I was in vacation.

I configurated this alarm code site starting with operating system now.

I guess:

pick pose (cartesian) ----- IK ----> several solutions --------> match configuration (NUT000) --------> final joint value

Default configuration of FANUC 6-aixs robot is 'N U T 0 0 0', last zero means 6th axis value should be in [-179, 179].

If one pick pose (cartesian) is odd, try to teach a new configuration to test.

Finally, if you confirmed the problem is related to configuration, you may need to write programs to manually/automatically set configuration filed of P[n] or PR[n].

Ref:

OPERATOR'S MANUAL - BASIC OPERATION
8.1 POSITIONAL DATA

a post in the forum: Variable to keep the error message

How about setting the seq_num (the first parameter of ERR_DATA) to MAXINT ?

Good job, yours is a complete list.

I made a similar web service, usage:

> curl http://linuxsand.info/fanuc/fclt-api/13
> PRIO
>
> curl http://linuxsand.info/fanuc/fclt-api/PRIO
> 13

Position registers support different position types, like joint position, carteisian position, etc.
If you wanna do this programmatically, you can use PR[1,1] form to get first element of first position regsiter, then assign its value to group digital ouptuts.
then put this program in Background logic, so that it keeps running.

Catesian position maybe a XYZWPR or XYZWPREXT type, I don't see any manuals that describes its detailed structure.
you don't need to know its binary format to complete this task.

XYZWPR = STRUCTURE
    X: REAL
    Y: REAL
    Z: REAL
    W: REAL
    P: REAL
    R: REAL
    CONFIG_DATA: CONFIG
ENDSTRUCTURE

You may need a USB dongle to use PalletEdit.

KUKA.PalletEdit is available in the following variants:

+--------------------+-------------------------------------------------------------+-----------------------------------------------------+
| KUKA.PalletViewer  | Layer pattern editor, only for viewing application examples | No dongle necessary                                 |
+--------------------+-------------------------------------------------------------+-----------------------------------------------------+
| KUKA.PalletLayout  | Layer pattern editor without optimization functions         | PalletEdit Layout dongle is required                |
+--------------------+-------------------------------------------------------------+-----------------------------------------------------+
| KUKA.PalletPRO     | Layer pattern editor with optimization functions            | PalletEdit PRO dongle and software key are required |
+--------------------+-------------------------------------------------------------+-----------------------------------------------------+

try: https://www.mathworks.com/help…es-in-matlab.html?lang=en

Your need [R648] USER SOCKET MSG. And if using TCP/IP, Ethernet/IP is not necessary.

FANUC CONTROLLER                                 REMOTE PC


        +------------------------+                    +------------------------+
        |                        |                    |                        |
        |                        |  +-------------->  |                        |
        |                        |                    |   Your app speaking    |
        |                        |  <--------------+  |   TCP/IP               |
        |                        |                    |                        |
        |                        |                    |                        |
        |  R632: KAREL           |                    |                        |
        |  R648: USER SOCKET MSG |                    |                        |
        |                        |                    |                        |
        |                        |                    |                        |
        +------------------------+                    +------------------------+

try:

PROGRAM GlobalVars
	CONST
		maxSize = 125
END GlobalVars

$HOSTC_CFG ?

Quote from bidzej

Not sure if this helps, but to identify the controller (for example for licensing purposes), you could also use its MAC address.

There is a variable with the E-number of the robot, but it can be edited freely, so I guess it won't help you.

Thank you bidzej, how do you get controller MAC address programmaticlly?

Quote from Atinder Singh

Hi Linuxsand,
If you have a teach pendant, try doing this to check the serial number and controller ID-
Press MENU
Press 0--NEXT
Press 4--STATUS
Press F!--[TYPE]
Select VERSION ID

Display More

Atinder, I'd like to get serial number in KAREL code. Thanks anyway

Quote from Nation

Try checking under the $APPLICATION system variable. There is a bit of information about the controller there, but I am not sure about the serial number.

Thank you, Nation, but there is no serial number of the controller in $APPLICATION.

Quote

Hi, Have you find any method to get a unique code of your robot?

Thanks!
Jonson

Not yet ...

Hello, how do you get control unit serial No. by KAREL? or just cannot...

Actually, if these hardware information exists in some controller files, that will be great too...

Any reply is appreciated

You have to write KAREL code to handle these data from Cognex camera. Data are transmitted over TCP/IP.

Cognex In-sight manual - Robot Communications - FANUC Robot Controller - Ethernet Communication

These software options are needed:
- KAREL (R632)
- User Socket Msg (R648)

>> Last bit, what are the connections between krc4 and the pc?

private protocol over TCP/IP

Quote from ancrof

That seems like it could work but the software limitations say "KicVarGateway could not be used in real-time applications". Should I take this to mean that i could not operate and pull variables from the KRC4 while its moving? I need to activate motors at a certain step in the robots path.

You can read or write KRL variables using KicVarGateway while robot is moving. It is not suitable for establishing cyclic communication at the real-time cycle rate of the robot controller, either is KUKA.Ethernet KRL

Try this:

+---------------------------+                       +-------------------------------------------+
  |                           |                       |                                           |
  |                           |                       |    External PC                            |
  |         KRC4              |                       |                                           |
  |                           | +-------------------> |  1  KicVarGateway client (py_openshowvar) |
  |                           |                       |  2  Your Python script                    |
  |  KicVarGateway installed  | <-------------------+ |                                           |
  |                           |                       |                                           |
  |                           |                       |                                           |
  +---------------------------+                       +-------------------------------------------+


   `TRIGGER WHEN PATH` set $OUT[X]                     client polls $OUT[X], detects from false to true
                                                       run your own script

Python Module of KicVarGateway.KRC4: https://github.com/linuxsand/py_openshowvar