Fanuc DPM Mouse Demo

Overview

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.

NOTICE

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.

tl;dr

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.

Requirements

The following is needed for this demo to work:

• R-30iB controller (V8.xx and up), with:
  • R739 - Dyn Path Modifier
  • R648 - User Socket Msg (R636 is 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.

Build

Command line

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.

Roboguide

Add the three Karel programs and the single TP program to your Roboguide workcell and build them.

Installation

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.

Configuration

DPM

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.

Host Comm

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.

FDPM_MDEMO

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).

STATRACKX

Three things need configuration here: initial pose, DPM starting position and the flags used for handshaking with FDPM_MDEMO.

DPM starting position

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.

Initial position

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.

Flags

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.

Running the demo

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.

Disclaimer

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.