fanuc_motion_program_exec provides a simple way to download and run a sequence of MoveJ, MoveL, MoveC commands on an FANUC R-30iB robot controller. This program is intended to be a proof of concept for more sophisticated controller interfaces. Multi-move control of two robots is also supported.
You will need a physical FANUC robot or RoboGuide, the FANUC robot simulation. The following robot options are required.
- KAREL (R632)
- Ascii Program Loader (R790)
- PC Interface (R641)
For dual robot arms, the following additional option is required.
- Multi-group (J686)
- Coordinated Motion (J601)
- The module utilize register number 80~83. Please leave them as 0 before using the module and don't modify the register.
The installation of modulel in RoboGuide includes setting up a cell and loading necessary scripts.
- Single Robot: See robot_setup.md
- Multi Robot: See multi_robot_setup.md
- Multi Robot with Coordinated Motion multi_robot_coord_setup.md
For the real robot, follow the same procedure as in RoboGuide. In addition, you will need to insert an extra USB flash drive to the robot controller.
The fanuc_motion_program_exec module can be install to local Python installation using the following command executed in the repository root directory.
pip install . --user
Execute MAIN by selecting the MAIN program in the Programs tab and pressing the play button on top. You should see the play button turn green. Note: this step is Extremely important!!!. You need to make sure MAIN is runninng whenever you want to use the module
Further more, remeber to select the right UT (utool) and UF (uframe) you will be using.
You can now run the python module. You can find the example code in fanuc_motion_program_exec_client.py
PLease consault common_qa.md if you run the python module before you execute MAIN.
The class TPMotionProgram constains is used to build the sequence of motions. It has the following commands of interests:
-
moveJ(target,vel,vel_unit,zone)- Move the robot to a specified joint waypoint.target:jointtarget.vel: integer.vel_unit:%ormsec.zone: integer in [-1,100].-1stands forFINEcorner path (zone) and others stand forCNT. -
moveL(target,vel,vel_unit,zone)- Move the robot to the specified Cartesian target using linear interpolation.target: eitherrobtargetorjointtarget.vel: integer in [1,2000].vel_unit:mmsec.zone: integer in [-1,100].-1stands forFINEcorner path (zone) and others stand forCNT. -
moveC(mid_target,end_target,vel,vel_unit,zone)- Move the robot to the specified Cartesian target circularly using an intermediate waypoint.mid_target,end_target: eitherrobtargetorjointtarget.vel: integer in [1,2000].vel_unit:mmsec.zone: integer in [-1,100].-1stands forFINEcorner path (zone) and others stand forCNT.
The constructor for TPMotionProgram optionally takes t_num and u_num parameters (default t_num:2, u_num:2). This paramters tell the controller which tool and user frames to be used. You will need to setup your prefer tool/user frame as described in the setup stage.
The following types are defined as subclasses of NamedTuple
class pose(NamedTuple):
trans: np.ndarray # [x,y,z]
rot: np.ndarray # [w,p,r] deg
class confdata(NamedTuple):
J5: str # F or N
J3: str # U or D
J1: str # T or B
turn4: int # -1 0 1
turn5: int # -1 0 1
turn6: int # -1 0 1
class robtarget(NamedTuple):
group: int
uframe: int
utool: int
trans: np.ndarray # [x,y,z]
rot: np.ndarray # [w,p,r] deg
robconf: confdata #
extax: np.ndarray # shape=(6,)
class jointtarget(NamedTuple):
group: int
uframe: int
utool: int
robax: np.ndarray # shape=(6,)
extax: np.ndarray # shape=(6,)
See the "FANUC Robot Controller series Operator's Manual (Basic Function)" for more details on these data types. Note that trans, rot, extax are implemented using numpy arrays or lists.
Once the program is complete, it can be executed on the robot using FANUCClient. The constructor is by default.
client = FANUCClient(robot_ip='127.0.0.2')
The robot_ip should be adjusted as the real robot. Once the client is constructed, it can be used to execute program.
log_csv_bin = client.execute_motion_program(tp)
log_csv_bin will constain a CSV file in binary format. This can be saved to a binary file directly or converted to a strinf and used in Python. To conver to a string, use:
log_csv = log_csv_bin.decode('utf-8')
The CSV data has the following columns:
timestamp- The time of the row. This is time from the startup of the logger task in milli-seconds.J1- Joint 1 position in degreesJ2- Joint 2 position in degreesJ3- Joint 3 position in degreesJ4- Joint 4 position in degreesJ5- Joint 5 position in degreesJ6- Joint 6 position in degrees
The first line of the CSV data contains column headers.
You can create several TPMotionProgram objects that contains different movement to be executed. However you only need one FANUCClient to connect to the robot controller.
tp = TPMotionProgram()
pt1 = robtarget(1,1,2,[1850,200,290],[-180,0,0],confdata('N','U','T',0,0,0),[0]*6)
pt2 = robtarget(1,1,2,[1850,200,589],[-180,0,0],confdata('N','U','T',0,0,0),[0]*6)
jt1 = jointtarget(1,1,2,[0,20,-10,0,-20,10],[0]*6)
pt3 = robtarget(1,1,2,[1850,250,400],[-180,0,0],confdata('N','U','T',0,0,0),[0]*6)
tp.moveL(pt1,50,'mmsec',100)
tp.moveL(pt2,50,'mmsec',-1)
tp.moveJ(jt1,100,'%',-1)
tp.moveL(pt2,50,'mmsec',100)
tp.moveC(pt3,pt1,50,'mmsec',-1)
tp.moveL(pt2,50,'mmsec',-1)
print(tp.get_tp())
client = FANUCClient()
res = client.execute_motion_program(tp)
with open("fanuc_log.csv","wb") as f:
f.write(res)
print(res.decode('utf-8'))
tp = TPMotionProgram()
tp.moveL(pt1,50,'mmsec',100)
tp.moveL(pt2,50,'mmsec',-1)
client = FANUCClient()
res = client.execute_motion_program(tp)
Example log CSV data (truncated)
timestamp,J1,J2,J3,J4,J5,J6
0, 18.6420, 8.3360, -35.3580, -34.7470, 32.8020, 25.2540
8, 18.6420, 8.3360, -35.3580, -34.7470, 32.8020, 25.2540
16, 18.6420, 8.3360, -35.3580, -34.7469, 32.8020, 25.2539
24, 18.6418, 8.3360, -35.3582, -34.7463, 32.8023, 25.2534
Two robots with coordinated motion can be controlled using Robot Options Multi-Group Motion (J601) and Coordinated Motion (J686) See multi_robot_coord_setup.md) for setup instructions.
The two robot needs to have different group_num which are given in the robtarget or jointtarget. Execute MAIN_MULT (instead of MAIN) in RoboGuide before using the python module. The execute_motion_program_multi function of FANUCClient is used to send the two tp program to the controller for the two robots.
Note that in coordinated motion, there's actually only one TP program under the hood. Therefore, two TPMotionProgram motion your python script can only have the exact same motion primitives.
Please consult FANUC manuals for more information.
tp_lead = TPMotionProgram()
tp_follow = TPMotionProgram()
# robtarget(motion group, uframe, utool, [x,y,z], [w,p,r], confdata, external axis)
# jointtarget(motion group, uframe, utool, [j1,j2,j3,j4,j5,j6], confdata, external axis)
# these are for follower robot, follower must be motion group 1
jt11 = jointtarget(1,1,2,[-49.7,4.3,-30.9,-20.9,-35.8,52.1],[0]*6)
pt12 = robtarget(1,1,2,[1383.1,-484.0,940.6],[171.5,-26.8,-9.8],confdata('N','U','T',0,0,0),[0]*6)
pt13 = robtarget(1,1,2,[1166.0,0,1430.0],[180.0,0,0],confdata('N','U','T',0,0,0),[0]*6)
# these are for leader robot, leader must be motion group 2
jt21 = jointtarget(2,1,2,[38.3,23.3,-10.7,45.7,-101.9,-48.3],[0]*6)
pt22 = robtarget(2,1,2,[994.0,924.9,1739.5],[163.1,1.5,-1.0],confdata('N','U','T',0,0,0),[0]*6)
pt23 = robtarget(2,1,2,[1620.0,0,1930.0],[180.0,0,0],confdata('N','U','T',0,0,0),[0]*6)
# two program must have the exact same motion primitives
tp_follow.moveJ(jt11,100,'%',-1) # moveJ does not support coordinated motion
tp_follow.moveL(pt12,500,'mmsec',100,'COORD') # add 'COORD' option
tp_follow.moveL(pt13,500,'mmsec',-1,'COORD')
tp_lead.moveJ(jt21,100,'%',-1)
tp_lead.moveL(pt22,500,'mmsec',100,'COORD')
tp_lead.moveL(pt23,500,'mmsec',-1,'COORD')
client = FANUCClient()
res = client.execute_motion_program_coord(tp_lead,tp_follow) # lead put in front
with open("fanuc_log.csv","wb") as f:
f.write(res)
print(res.decode('utf-8'))
Two robots can be controller using Robot Options Multi-Group Motion (J601)/ See multi_robot_setup.md for setup instructions.
The two robot needs to have different group_num which are given in the robtarget or jointtarget. Execute MAIN_MULT (instead of MAIN) in RoboGuide before using the python module. The execute_motion_program_multi function of FANUCClient is used to send the two tp program to the controller for the two robots.
Unlike coordinated version, two robot can have totally different TP programs. There motion will then not be synchronized or coordinated in anyway. However, you will have more freedom on programming your robots.
tp1 = TPMotionProgram()
tp2 = TPMotionProgram()
# these are for motion group 1 (robot 1)
jt11 = jointtarget(1,1,2,[38.3,23.3,-10.7,45.7,-101.9,-48.3],[0]*6)
pt12 = robtarget(1,1,2,[994.0,924.9,1739.5],[163.1,1.5,-1.0],confdata('N','U','T',0,0,0),[0]*6)
pt13 = robtarget(1,1,2,[1620.0,0,1930.0],[180.0,0,0],confdata('N','U','T',0,0,0),[0]*6)
# these are for motion group 2 (robot 2)
jt21 = jointtarget(2,1,2,[-49.7,4.3,-30.9,-20.9,-35.8,52.1],[0]*6)
pt22 = robtarget(2,1,2,[1383.1,-484.0,940.6],[171.5,-26.8,-9.8],confdata('N','U','T',0,0,0),[0]*6)
pt23 = robtarget(2,1,2,[1166.0,0,1430.0],[180.0,0,0],confdata('N','U','T',0,0,0),[0]*6)
tp1.moveJ(jt11,100,'%',-1)
tp1.moveL(pt12,500,'mmsec',100)
tp1.moveL(pt13,500,'mmsec',-1)
tp2.moveJ(jt21,100,'%',-1)
tp2.moveL(pt22,500,'mmsec',100)
tp2.moveL(pt23,500,'mmsec',-1)
client = FANUCClient()
res = client.execute_motion_program_multi(tp1,tp2)
with open("fanuc_log.csv","wb") as f:
f.write(res)
print(res.decode('utf-8'))
Apache 2.0 License, Copyright 2022 Rensselaer Polytechnic Institute
This work was supported in part by Subaward No. ARM-TEC-21-02-F19 from the Advanced Robotics for Manufacturing ("ARM") Institute under Agreement Number W911NF-17-3-0004 sponsored by the Office of the Secretary of Defense. ARM Project Management was provided by Christopher Adams. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of either ARM or the Office of the Secretary of Defense of the U.S. Government. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes, notwithstanding any copyright notation herein.
