Fanuc Roboguide Tutorial Pdf

[Stayce Cawthorn]

Iwant to make a simulation of fanuc robot in Roboguide. My question concerns about specific configurations needed to send movements from within ROS/MoveIt/Rviz to the simulated robot inside Roboguide.

Briefly, I use Ubuntu 18.04.2 LTS bionic and ros-melodic.Basically, I have ROS/Moveit respositories for fanuc. I downloaded, installed and built these repositories from this link under my catkin_ws.

Next, on the same tutorial, in section 6 Copying the Binaries, it says, Finally, the binaries need to be transferred to the controller. Since, we are on windows PC, and working inside Roboguide. We have necessary programs (compiled binaries) already available inside Roboguide, and we are using the simulated controller.Where do we have to copy the files? Or is it referring in case if we had a real-robot? So, for our case, with the simulation, we can just proceed with the next steps.

Next, I move on the next tutorial, which are in fact further configurations. I have this question, section 2 Server Tags check Tag availability and status, open the Host Comm setup screen, which I cannot locate. Please, if you can help me clarify these steps, and give suggestions on next steps.

Next, on the same tutorial, in section 6 Copying the Binaries, it says, Finally, the binaries need to be transferred to the controller. Since, we are on windows PC, and working inside Roboguide. We have necessary programs (compiled binaries) already available inside Roboguide, and we are using the simulated controller. Where do we have to copy the files? Or is it referring in case if we had a real-robot?

The tutorials you reference are not meant as an introduction to using Fanuc robots, but to guide you to setup the ROS driver for use with such robots. Note also the statement at the top of the tutorials:

Note: This tutorial assumes familiarity with Fanuc controller cabinets, the Teach Pendant (iPendant) and the Roboguide environment. For more information on any of the steps in this tutorial, consult the documentation on these subjects provided by Fanuc Robotics.

thanks @gvdhoorn, I should've studied it bit more, I opened the Teach Pendant, in default configuration, the relevant keyboard was not visible. I thought, perhaps, I missed some settings. After playing around on the keyboard, and reading this tutorial, I managed to complete most configurations indicated. Later on, before running, it says, On the TP, start the rosstate TPE program. Please excuse my ignorance, I can see the program listing ROSRELAY, ROSSTATE, ROS_MOVESM, but, not sure, from where to "start" it. If I Enter, it takes me to the code listing of the program. There are some keys/buttons on the top left of TP that read Busy, Step, Hold, Fault, Run, I/O, Prod and TCyc. But, they are probably only status indicators. Thanks,

I would suggest you try looking up the relevant manuals from Fanuc, as becoming more familiar with this will help you working your way through these tutorials, and will make working with Fanuc robots much more efficient.

Hi @gvdhoorn, thanks for your input. I agree; the software Roboguide, its terminology and concepts needs to be studied for easy understanding of the configurations. The lack of understanding is due to the way in which the task was assigned to me ( about a month ago), with a little time on the trial version left, the idea was to run and test a simple motion goal from ROS/MoveIt to fanuc Roboguide. Though, it needs dedicating some time to follow the fanuc controllers first, the tutorials of the Roboguide and then testing the connection with the ROS/MoveIt. The tutorials are probably more for the people who are working with fanuc controllers, and they now want to see how does ROS connect with it. For me, it was the opposite, I have been learning ROS/MoveIt. I tested simple motions, on rviz and real robotic arm (UR5), making use of ...(more)

This tutorial guides you through all the steps necessary to install the ROS-Industrial driver programs onto a Fanuc Robotics controller. After installation, the programs and controller will need to be configured, which will be described in Configuration of the driver.

All of the steps outlined in this tutorial can be used for setting up a real controller as well as a simulated one in Roboguide. For a source install, the only difference is in the Copying the Binaries step: Roboguide automatically loads the binaries onto the virtual robot controller as part of the build process, so no additional action is needed. For a binary install, the copy destination is the virtual controller instead of the real one.

Note that these tutorials only cover the installation and setup of those programs of the fanuc_driver package that are supposed to run on the controller. For help on installing ROS-Industrial in general, please see the ROS-Industrial installation pages.

Finally: this tutorial assumes the use of an iPendant. For users with older (legacy) pendants, this may mean that key sequences given in the text, screenshots and menus will not match completely. Due to the lower resolution of legacy pendants, many key sequences need either an additional NEXT inserted, or (sub)menus should be opened using TYPE.

There are two options for installation: from source or using a set of precompiled binaries. In general, a binary install is recommended, as it is much faster and less involved (note: there are currently no KAREL binaries available for the Indigo version of the driver, thus a source install is always necessary for that version). After choosing a compatible version, only a small number of files have to be copied to the controller.

If it is not possible to use the provided binaries, a source install is the only option. This may be the case if the target controller runs an incompatible version of the KAREL runtime, if it cannot support access to KAREL Vars or if there is a requirement to use customised driver code. A source install is more complicated, as it necessitates the creation of a Roboguide workcell, and the compilation of several source files.

First, create a new workcell in Roboguide, either by using the wizard or by creating a copy from your actual robot controller. When using the wizard, be sure to select the correct Application package, as well as the correct robot type. On the software options screen, also make sure to select at least options R632 - KAREL and R648 - User Socket Messaging.

After completing the wizard, you should end up with an empty workcell with just your robot in the middle of it. If you chose to create a copy of the controller, the Cell Browser might show programs and files that were already present on the robot under the Programs and Files sections. As long as they do not conflict with the ROS-Industrial KAREL programs, they can be ignored.

A Roboguide workcell is not needed for a binary install: all that is required is a copy of the necessary binaries. They should be compatible with the software installed on the target controller, as well as with the installed version of fanuc_driver (so version 0.2.0 of fanuc_driver must be used with version 0.2.0 of the precompiled binaries).

From the Binaries section on the fanuc_driver page, download the correct version and extract it in some temporary location. You should end up with a directory containing several .pc and .tp files. Make sure the names correspond to those listed in the Building section.

If the KAREL programs do not show up on the TP, or you cannot change the display TYPE to KAREL Progs, make sure the KAREL support has been properly setup on your controller. See KAREL programs are invisible on the Program Select window on the Troubleshooting page.

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