This is a simple demo that shows how to use Fanuc Dynamic Path Modification in Modal mode with Stationary Tracking inputting offsets via system variables to control the end-effector in 3D (XYZ) with mouse inputs from a remote system.
This is just a demo and solely meant to show one possible way to interface with DPM over a TCP socket. It has only been tested running in Roboguide, and the code as-is is absolutely not intended to be suitable for any kind of production use (it lacks proper error handling and recovery, for instance).
Always adhere to safety regulations and make sure you, other people, your robot and your workcell are safe. Refer to the safety instructions found in all Fanuc manuals for information on safety when working with Fanuc robots and controllers.
Copy Karel and TP programs to a controller with DPM, check flags used,
configure DPM schedule 1, channels 1, 2 and 3 for stationary tracking with
path offset set to maximum and SYSVAR input type. Update KAREL Vars of
FDPM_MDEMO to match TP and Python program. Check that positions configured
in TP program work for the used robot.
Start TP program, start fdpm_mdemo.py on PC, use mouse to control EEF.
See Requirements section for info on required options and runtimes.
The following is needed for this demo to work:
- R-30iB controller (
V8.xxand up), with:R739- Dyn Path ModifierR648- User Socket Msg (R636is not enough unfortunately)
- Roboguide
- Python 2 with PyGame installed (
pip install pygame)
The Python part should work under Linux and OSX as well, as long as PyGame is installed. This hasn't been tested though. Python 3 has also not been tested.
Karel (R632) is probably not needed, as long as $KAREL_ENB is set to 1.
If ktrans.exe is not installed in the default location (ie:
C:\Program Files (x86)\Fanuc\WinOLPC\bin),
open build.cmd and update the KTRANS_BIN variable. If ktrans.exe is on
the Windows PATH, simply setting it to ktrans.exe should also work.
If you need to build for a runtime software version other than V8.30,
change CORE_VERSION as well.
Now run build.cmd in a command shell. Three p-code files should have been
produced.
Add the three Karel programs and the single TP program to your Roboguide workcell and build them.
Roboguide should have automatically uploaded the Karel programs to the virtual controller. Loading the TP program should copy it as well.
If build.cmd was used, add the .pc and .ls files to the project and
load them onto the virtual controller. Alternatively an FTP client could be
used.
This demo uses Modal DPM with Stationary Tracking and SYSVAR channels and
assumes that the first DPM schedule has been set up for that.
Global DPM configuration used for this demo:
DPM function: ENABLED
Instruction type: MODAL
Offset BEF/AFT filter: AFTER
Orientation CTRL: DISABLED
Delay time (inline DPM): 5 ITP
Motion group mask: [1,*,*,*,*,*,*,*]
Schedule 1, channel 1, 2 and 3 configuration:
DPM type: MODAL
Offset ref. frame: UTOOL
Offset accumulate: FALSE
Stationary track: YES
Stationary track sych: DI[1]
Channel enabled: TRUE
On-The-Fly Input: DI[0]
Max offset/path: 100.00 mm
Max offset/ITP: 50.00 mm
Min offset/ITP: 0.00 mm
Channel input type: SYSVAR
Offset value: 0.00 mm
Make sure the schedule is also ENABLED.
Note that Stationary track sych must be set to a DI index, or DPM
Stationary tracking will not work (Stationary track sych is used as
a termination condition: if DI[1] is ON, tracking will terminate).
For this demo, it's set to DI[1], but make sure to set this to an
unconnected and unused DI.
Refer to the Fanuc Dynamic Path Modification User's Guide (MARUBDPMO02141E)
for more information on how to setup DPM.
Setup a Server Tag to use the SM protocol and make sure to set
Startup State to START. Use the [ACTION] menu to start the Tag
immediately, or restart the controller.
Note the Tag index.
Open the KAREL Vars for FDPM_MDEMO, switch to the cfg_ field, open the
structure and enter the following values:
F_TP_READY : 1
F_KRL_READY : 2
S_TCP_PORT : 11010
S_TAG_NR : <SERVER_TAG>
UM_CLEAR : TRUE
Where SERVER_TAG is the index of the Server Tag configured earlier.
Note: make sure the values for F_TP_READY and F_KRL_READY correspond to
the values used in STATRACKX (see below).
Three things need configuration here: initial pose, DPM starting position and
the flags used for handshaking with FDPM_MDEMO.
This is the pose that STATRACKX starts stationary tracking from. This pose
can be anything, but is recommended to be in a neutral position for the used
robot. For an LR Mate 200iD, the author used the Cartesian pose that results
from having all joint angles at 0, except J5 which was at 90 degrees.
This pose is stored as P[2] in STATRACKX.
As DPM does not permit stationary tracking to be started with moves that
would result in zero motion, this pose should have a slight offset from
the starting position that was configured in the previous section. The
author used P[2], but in JOINT representation, and offset each angle
by 1 degree.
This pose is stored as P[1] in STATRACKX.
Two flags are used by STATRACKX to communicate with FDPM_MDEMO. By default
these are flags 1 and 2. Make sure these are free to use.
If other flags should be used, update them in STATRACKX and be sure to
update FDPM_MDEMO's configuration to match.
To run the demo, start the STATRACKX TP program using the teach pendant. If
all goes well, the teach pendant should show:
12345 I FDMD init done
12345 I FDMD wait TP
12345 I FDMD TP is ready
12345 I FDMD wait client
On the PC, start fdpm_mdemo.py in a command session. A black window should
appear, and the console should show:
Connected, move mouse to control EEF.
Left mouse button : X-Y
Right mouse button: Z
The teach pendant should now show:
...
12345 I FDMD connected
12345 I FDMD ready for mouse input
On the PC, click inside the black window and drag the mouse while holding down the mouse button . A left click will control EEF translation in the X and Y directions. A right click controls EEF translation in Z.
The author of this software is not affiliated with FANUC Corporation in any way. All trademarks and registered trademarks are property of their respective owners, and company, product and service names mentioned in this readme or appearing in source code or other artefacts in this repository are used for identification purposes only. Use of these names does not imply endorsement by FANUC Corporation.