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Python Interface for FANUC robots

License: Apache License 2.0

Python 93.42% LiveScript 6.58%

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Issue in writting to Fanuc CR-4iA last value

Hello

I am working on Fanuc CR-4iA robot, when I am trying to move the last joint or yaw value of the robot, it is always going to zero. I just printed the cmd that is sending to the robot from Robot.py , and it is having the value i am giving. The reading of the joint values are proper, but when we command last value it is always setting zero.

We can manually jog the joint using teach pendent, and can read the values as well.

I think some settings in Karel code may be wrong, can you give some insights about the same if possible ? @torayeff . This is 6 axis robot.

Use of MAPPDK Logger

Hello

Can we omit the mappdk_logger and start only with mappdk_server to interact with the robot? Can you explain what will be the after-effects if we are not using the logger?

Also, any methods to start and stop the running mappdk_server after some time in the TP code?

Why are the coordinates returned by get_curpos different from that displayed in the teach pendant?

I have already selected the 8th User Frame and Tool Frame in the teach pendant, but the coordinates in the teach pendant are different from that returned by the get_curpos function

get_curpos:

teach pendant:

Need to access to Digital Ports

Hi,
I'm using Robotiq's Dual Adapter for two types of sanders and need to activate/deactivate both of them separately.

I'm trying to figure out how to instantiate two separate DO (not RDO), ie 101 & 104.

I noticed in robot.py the "setdo" command for the gripper so i created set/get methods for DO, ie

def get_do(self, do_num: int):
    """Get DO value.
    Args:
        do_num (int): DO number.
    Returns:
        do_value: DO value.
    """
    cmd = f"getdo:{do_num}"
    _, do_value = self.send_cmd(cmd)
    do_value = int(do_value)
    return do_value

def set_do(self, do_num: int, val: bool):
    """Sets DO value.
    Args:
        do_num (int): DO number.
        val (bool): Value.
    """
    if val:
        val = "true"
    else:
        val = "false"

    cmd = "setdo" + f":{self.ee_DO_num }:{val}"
    self.send_cmd(cmd)

However, when run it I get the following message "WRONG COMMAND setdo:104:true".

Any thoughts/help would be appreciated.
Sabri

Ethernet adapter error

Hi! Im trying to connect Fanuc LRMate 200id/7L and faced issues with starting a server. I do not have KAREL on my Fanuc, as I understand, .pc files is a compiled binary version of .kl files so I can use .pc files instead. I configured everything as in your guide but still have a problem PRIO-230 Ethernet Adapter error and I cant find the solution of that in manuals. Maybe Im missing something, that you could point
Im new to fanuc and industrial robots and have to learn it to educational purposes

Detect Force Applied?

The FANUC CRX robot models come equipped with internal force sensing.
https://crx.fanucamerica.com/collaborative-robot-accessories/fanuc-force-sensing/

Can i use fanucpy to detect this force?

Ability to get gripper (DO) state

Right now, there is a gripper method to control the gripper. However, there is no possibility to read back the gripper's (DO) state.

null response to commands other than .connect()

I am having a problem running on V7.20-1 Controller. The Robot Controller is not returning a response for methods other than connect().

Take a look at the screen shot and you will see the "curpos" command and empty response:

cmd.encode(): b'curpos\n'
resp:

The empty response is what is causing the exception when trying to split(":")

I have tried many things, but nothing seems to get a response.

Any ideas?

FYI - the success line at the top of the screen shot is the call to connect() .. and the Robot2 class is my copy of your class just with some print statements for debugging

USERFRAME coordinate and GET_CURPOS function issue!!!

Hello, @torayeff , Hello, I have an inquiry about how the GET_CURPOS work,

as I understand if I set up a specific USERFRAME according to my need, then I just need to send the positions value according to my userframe. however, every time I use robot.move function with a position in my modified userframe it gives me a 'position-is-not-reachable' error.
So I moved my robot manually to the 0,0,0 position in my userframe, and used the GET_CURPOS function to retrieve my robot position, but the position retrieved is not the same as my userframe , the other userframe , or toolframe. so on which userframe or coordinate does GET_CURPOS is based on?
and in general how i can make robot.move to move the robot on my userframe.

I hope you can give any help or advice, I am still a novice so any help will be great for me.

driver install document inconsistency

In section 2.1.1 you are referencing $HOSTS_CFG

However, in the screenshot in section 2.1.3 you are showing $HOSTC_CFG

Which is it?

INTP-311 (MAPPDK_SERVER,204) Uninitialized data is used

I got fanucpy working well on my first CRX but on my second CRX I get this error message. I've searched the threads and this message pops up for a variety of reasons with other socket based programs. Was wondering if you had any troubleshooting tips.

I found bug in mappdk_server.kl

In the line 24
VAR
.....
uframe_str: STRING[1]
tool_str: STRING[1]
This STRING[1] should be STRING[2] or STRING[254]，because the out of function CNV_INT_STR() is more than STRING[1],it conclude a blank space.
In the line 53
CNV_INT_STR(UFRAMENUM, 1, 0, uframe_str)
CNV_INT_STR(TOOLNUM, 1, 0, tool_str)
the mistake will make uframe_str=' ' and tool_str=' ',you can not set the correct MNUFRAME and MNTOOL by
GET_VAR(entry, 'SYSTEM', '$MNUFRAME[1, ' + uframe_str + ']', $GROUP[1].$UFRAME, status)
GET_VAR(entry, 'SYSTEM', '$MNUTOOL[1, ' + tool_str + ']', $GROUP[1].$UTOOL, status)
My English is not good , I hope you can understand me.

Code only works in T1 and Teach mode

The controller refuses the 'Move' commands on 'Auto' mode and needs some correction for the R-30iB Mate Plus controller.

RJ3iB support

Hi,

I am trying to test your library on an old RJ3iB. Is there a way to define/determine the port using the teach pendant as well as the ee_DO_type and ee_DO_num? Do you know how to do it or do you have any related resources?

I currently can read the position of the arm with a code of my own:

  import requests
  from bs4 import BeautifulSoup
  from time import sleep
  
  while(1):
      r = requests.get("http://192.168.1.6/MD/CURPOS.DG")
      soup = BeautifulSoup(r.text, "html.parser")
      text = soup.text
      
      poses = list()
      
      for i in range(1,7):
          position_init = text.find(str('Joint   ' + str(i) + ':')) + 11
          position_end = text[position_init:].find('\n')
          poses.append(float(text[position_init:position_init + position_end]))
      
      print(poses)
      sleep(0.01)

Thank you

Connectivity issue

Hi torayeff, I'm having trouble sending commands to my Fanuc robot through MAPPDK. I'm fairly certain it has little to do with your driver and more with network communication, but maybe you've ran into similar issues while coding or testing the driver.

I went through all of the instructions in the FANUC MAPPDK Driver readme, and MAPPDK is (apparently) running fine on my controller. The only part I've skipped is the logger on port 18736 (for now). The robot (CRX-10ia) and the laptop from which I want to issue commands through fanucpy (an Ubuntu machine) are in the same subnet, with IPs ending with .10 and .100 as in the readme. I've disabled DHCP via the teach pendant.

With all that set up, I try running a sample python file to send a command to the robot and get this error:

File "/home/wherever my script is/test.py", in connect
self.comm_sock.connect((self.host, self.port))
ConnectionRefusedError: [Errno 111] Connection refused

The machines see each other and can ping between them.

Issues while building fanuc driver

Hello

I have tried to build the Fanuc driver with Roboguide 9.4 and Ktrans version v9.4. I am not able to build 3 Karel files in the driver, please have a look, I am pasting the error below

1. File mappdk_cmd.kl

----------------------------------------------------------------------
Translating C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl

KTRANS Version V9.40 (Build 22   9/23/2022)
Copyright (C) FANUC America Corporation, 1985 through 2022.
All Rights Reserved.



C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
     ^ ERROR
"PROGRAM" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
     ^ ERROR
Id expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
             ^ ERROR
";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
                       ^ ERROR
"BEGIN" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
                        ^ ERROR
";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
                           ^ ERROR
Invalid statement or "ENDxxx" or "UNTIL" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
                             ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
                                   ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
                                    ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(10)
  10 ROUTINE GET_CURPOS(cmd: STRING): STRING
                                      ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(19)
  19 VAR
     ^ ERROR
Invalid statement or "ENDxxx" or "UNTIL" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(19)
  19 VAR
     ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(20)
  20     resp:           STRING[254]
             ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(20)
  20     resp:           STRING[254]
                         ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(20)
  20     resp:           STRING[254]
                               ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(20)
  20     resp:           STRING[254]
                                ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(20)
  20     resp:           STRING[254]
                                   ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(21)
  21     out:            STRING[254]
            ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(21)
  21     out:            STRING[254]
                         ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(21)
  21     out:            STRING[254]
                               ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(21)
  21     out:            STRING[254]
                                ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(21)
  21     out:            STRING[254]
                                   ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(22)
  22     cpos:           XYZWPR
             ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(22)
  22     cpos:           XYZWPR
                         ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_cmd.kl(23)
  23 BEGIN
     ^ ERROR
Invalid statement or "ENDxxx" or "UNTIL" expected.


===============Translation not successful===============
Build Failed: Error translating program: Code: 0xFFFFFFFF:

2. File: mappdk_comm.kl


Translating C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl

KTRANS Version V9.40 (Build 22   9/23/2022)
Copyright (C) FANUC America Corporation, 1985 through 2022.
All Rights Reserved.



C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(11)
  11 ROUTINE OPEN_COMM(comm_file: FILE;
     ^ ERROR
"PROGRAM" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(11)
  11 ROUTINE OPEN_COMM(comm_file: FILE;
     ^ ERROR
Id expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(11)
  11 ROUTINE OPEN_COMM(comm_file: FILE;
             ^ ERROR
";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(11)
  11 ROUTINE OPEN_COMM(comm_file: FILE;
                      ^ ERROR
"BEGIN" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(11)
  11 ROUTINE OPEN_COMM(comm_file: FILE;
                       ^ ERROR
";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(11)
  11 ROUTINE OPEN_COMM(comm_file: FILE;
                                ^ ERROR
Invalid statement or "ENDxxx" or "UNTIL" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(11)
  11 ROUTINE OPEN_COMM(comm_file: FILE;
                                  ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(12)
  12                   server_num: INTEGER;
                                 ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(12)
  12                   server_num: INTEGER;
                                 ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(12)
  12                   server_num: INTEGER;
                                   ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(13)
  13                   port_number: INTEGER)
                                  ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(13)
  13                   port_number: INTEGER)
                                  ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(13)
  13                   port_number: INTEGER)
                                    ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(13)
  13                   port_number: INTEGER)
                                           ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(24)
  24 VAR
     ^ ERROR
Invalid statement or "ENDxxx" or "UNTIL" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(24)
  24 VAR
     ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(25)
  25     entry:              INTEGER
              ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(25)
  25     entry:              INTEGER
                             ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(26)
  26     status:             INTEGER
               ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(26)
  26     status:             INTEGER
                             ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(27)
  27     resp:               STRING[254]
             ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(27)
  27     resp:               STRING[254]
                             ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(27)
  27     resp:               STRING[254]
                                   ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(27)
  27     resp:               STRING[254]
                                    ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(27)
  27     resp:               STRING[254]
                                       ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(28)
  28     server_str:         STRING[2]
                   ^ ERROR
Invalid statement. ";" or new line expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_comm.kl(28)
  28     server_str:         STRING[2]
                             ^ ERROR
Too many syntax errors encountered.


===============Translation not successful===============
Build Failed: Error translating program: Code: 0xFFFFFFFF:  
----------------------------------------------------------------------

3. File mappdk_utils.kl



KTRANS Version V9.40 (Build 22   9/23/2022)
Copyright (C) FANUC America Corporation, 1985 through 2022.
All Rights Reserved.



C:\Users\NITRO\Desktop\fanuc-driver\mappdk_utils.kl(9)
   9 ROUTINE TP_CLS
     ^ ERROR
"PROGRAM" expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_utils.kl(9)
   9 ROUTINE TP_CLS
     ^ ERROR
Id expected.

C:\Users\NITRO\Desktop\fanuc-driver\mappdk_utils.kl(9)
   9 ROUTINE TP_CLS
             ^ ERROR
";" or new line expected.


===============Translation not successful===============
Build Failed: Error translating program: Code: 0xFFFFFFFF:  
----------------------------------------------------------------------

INTP-311 (MAPPDK_SERVER,204) Uninitialized

Hello, I have a question to ask.
I am simulating an arm using ROBOT GUIDE on computer A. On computer A, I can execute robot.move() locally. On another computer B within the same network, I can successfully execute robot.get_curjpos() as well.
However, when I attempt to execute robot.move() on computer B, Python does not raise an error, but on computer A's ROBOT GUIDE, I encounter an error message: "INTP-311 (MAPPDK_SERVER,204) Uninitialized." Could you please help me understand the reason behind this?

Missing dependency on sqlalchemy in pyproject.toml

Version 0.1.6 imports sqlalchemy (see fdf76dd#diff-0f3271fd54afd0487ac6855d92f2de5bf8d815b81d9e70a5eb8f3f7c0d1ed229R5), but the dependency is not declared in pyproject.toml.

Type annotations

These days, a lot of libraries use type hints (PEP 484) as it improves the experience of developers during coding, and mainly it makes the code more robust (can be checked by mypy within CI). It would be nice if fanucpy could be PEP 484 (and 561) compatible.

Publishing to pypi

Good job! I'm just wondering - is there a plan to publish this stuff to PyPI, so one can install it using pip? Thanks.

This line should be fixed.

fanucpy/src/fanuc-driver/mappdk_comm.kl

Line 40 in 1a2141a

'$HOSTC_CFG[' + server_str + '].$SERVER_PORT',

Library-specific exception

Right now, the handle_response raises Exception:

fanucpy/src/fanucpy/Robot.py

Line 61 in 27a70d1

raise Exception(msg)

which is probably not a good practice. I propose to define at least one library-specific exception and optionally other derived exceptions... Something like this:

class FanucPyException(Exception):
    pass

class CommException(FanucPyException)
    pass

Which will allow me (in the application code) to catch just the specific exception raised by the library, instead of the generic one.

Thanks for your consideration.

How to make function for different Tools

@torayeff， again Thank you for this awesome repository and your help and response in earlier issues.

I am working on a welding scenario, so I want to make a function for the welding like robot.gripper(True) from your code, is it possible to give me some instructions or information on how you made the gripper function?

Get/Set DOUT

in the readme page you have the following for getting/setting DOUT

robot.get_rdo(dout_num=1)
robot.set_rdo(dout_num=1, value=True)

should be

robot.get_dout(dout_num=1)
robot.set_dout(dout_num=1, val=True) #value should be val

the get_dout function works

but

the set_dout option gives me the following error
robot.set_dout(dout_num=104, val=True)
File "..fanucpy/Robot.py", line 289, in set_dout
self.send_cmd(cmd)
File "..fanucpy/Robot.py", line 98, in send_cmd
return self.handle_response(resp)
File "..fanucpy/Robot.py", line 62, in handle_response
raise Exception(msg)
Exception: wrong-dout-value

Joint velocities and accelerations

Is it possible, to get the current joint velocities and accelerations similar to robot.get_curjpos?
Is there maybe a custom command one can send or a routine one can define?

Thank you

Problem with (MAPPDK_Server, 204) uninit

Hello,

I send you a vidéo of my problem. I can communicated with the robot but when i need to move an error appear.

Sincerely,
Antoine.

Bug_Python_Fanuc.mp4

The DH parameters and Joint limits.

Hello, @torayeff ^_^,

I want to get The DH parameters and the joint limits of the robot arm I am controlling with Fanucpy. so is there a specific function in Karel or the TP language, that I can call it from my code and retrieve the DH parameters and Joint limits?

and Since I am using Roboguide, I can use any arm version, if there is any way to get any arm DH parameters and Joint limits. I just use that specific arm.

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