Documentation Status

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Package Summary

Documented

Fanuc post-processor

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  Documentation Status

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Status

Experimental

EXPERIMENTAL: This status indicates that this software is experimental code at best. There are known issues and missing functionality. The APIs are completely unstable and likely to change. Use in production systems is not recommended. All code starts at this level. For more information see the ROS-Industrial software status page.

Overview

This repository is part of the ROS-Industrial program. This project has been developed by the Institut Maupertuis, a French research institute that is working on robotic industrial processes.

The Fanuc Post Processor goal is to allow to create LS programs for Fanuc robots from ROS trajectories.

Dependencies

This package has been tested with Ubuntu 16.04 and ROS Kinetic.

libcurl

You can install libcurl with:

sudo apt install libcurl3

wstool

Install wstool.

rosdep

Install, initialize and update rosdep.

Compiling

Create a catkin workspace and clone the project:

mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone https://gitlab.com/InstitutMaupertuis/fanuc_post_processor.git
cd ..

Resolve ROS dependencies

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

Compile

Use catkin_make or catkin tools:

catkin_make
catkin build

Testing

There is an example package provided to demonstrate how to use the post-processor, source the workspace and run:

roslaunch fanuc_post_processor_example test.launch

Troubleshooting upload

If you have trouble uploading programs to your robots, here are simple tests to help you find what's wrong:

  • Make sure you can ping the robot controller in a terminal: ping 192.168.1.1

  • Make sure you have ASCII Upload; in your favorite web browser go to the IP address of the robot and check for the Ascii Upload option (R507) on the Summary Configuration/Status page

  • Make sure you can connect to the FTP (using your credentials if applicable):

$ ftp
ftp> open 192.168.1.1
Connected to 192.168.1.1.
220 R-30iB FTP server ready. [ArcTool V8.20P/24]
Name (192.168.100.200:dell):
230 User logged in [NORM].
Remote system type is UNKNOWN.
  • Make sure you can upload a simple program, ROS_TP_PROGRAM.ls

/PROG ROS_TP_PROGRAM
/ATTR
COMMENT = "ROS generated";
PROTECT = READ_WRITE;
DEFAULT_GROUP = 1,*,*,*,*;
/MN
:  !This is a ROS generated TP program;
:  DO[5]=ON;
:  WAIT  0.5(sec);
:  DO[5]=OFF;
/POS
/END

Upload it on with the FTP:

ftp> put ./ROS_TP_PROGRAM.ls
local: ./ROS_TP_PROGRAM.ls remote: ./ROS_TP_PROGRAM.ls
200 PORT command successful.
150 ASCII data connection.
226 ASCII Transfer complete.
215 bytes sent in 0.00 secs (7240.0 kB/s)

If the upload loops/fails, check the Teach Pendant alarm history to get details on the error and open an issue.

How to contribute

Wiki: fanuc_post_processor (last edited 2017-10-09 09:28:01 by VictorLamoine)