- This temporary repository contains a OpenTAP prototype plugin for Fanuc's CRX-20iA/L collaborative robot.
- The prototype demonstrates how teams can leverage OpenTAP's automation capabilities to streamline repetitive and minor tasks associated with test and measurement.
- This plugin was developed using Fanuc's ROBOGUIDE simulator as a proof of concept. While the design should extrapolate to a physical robot, additional field testing will likely be necessary.
Moving the CRX-20iA/L programatically with OpenTAP.
- Python
- OpenTAP
- ROBOGUIDE simulator licences or Fanuc's physical CRX-20iA/L model
- Git
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Open ROBOGUIDE and create a new work cell with the following actions:
- Select HandlingPRO then Next
- Select Next
- Select Next
- Select Next
- Select robot model CRX-20iA/L then Next
- Select Next
- Select R632, R566 and R648 from software options then Next
- Select Finish to start the robot controller
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Configure the teach pendant with the following actions:
-
Load the KAREL server script with the following actions:
- In the project navigation pane, right click Files then select New File and KAREL source (.kl)
- Paste this KAREL script then hit build in the upper right hand corner.
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Create the server tag with the following actions:
- On the Teach Pendant keypad, press MENU to open the menu drop drown.
- In the drop down, highlight SETUP then select** Host Comm**.
- Using your keyboard, press F4 then 3
- Highlight the S3 option then press Enter
- Navigate to the Protocol option and select SM
- Navigate to the Startup State option then press F4 then 3
- Afterwards, press F2 then 1
- Afterwards, press F2 then 3
- On the Teach Pendant keypad, press MENU to open the menu drop drown and select NEXT, SYSTEM then Variables.
- Scroll until you see HOSTS_CFG (not HOSTC_CFG), press enter, select HOST 3 then change the SEVER_PORT to 12345
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Load and run the KAREL program with the following actions:
- Clone this repository in a directory of your choice with the following command:
git clone https://github.com/UCSC-Keysight/Fanuc-Cobot.git
- Build the plugin and launch the editor with the following commands:
dotnet build bin\tap package install editorx bin\tap editorx
- Setup the bench setting by creating a CRX-20iA/L instrument
- Add the Move Cobot test step and change the joint values as you desire.