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An OpenTAP plugin designed to interface with Fanuc's CRX-20 to automate test and measurement operations.

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UCSC-Keysight/Fanuc-Cobot

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Fanuc-Cobot

Overview

  • 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.

Demo

Moving the CRX-20iA/L programatically with OpenTAP.

fanuc_demo

Setup

Requirements

Robot Setup

  1. Open ROBOGUIDE and create a new work cell with the following actions:

    create_Workcell

    1. Select HandlingPRO then Next
    2. Select Next
    3. Select Next
    4. Select Next
    5. Select robot model CRX-20iA/L then Next
    6. Select Next
    7. Select R632, R566 and R648 from software options then Next
    8. Select Finish to start the robot controller
  2. Configure the teach pendant with the following actions:

    setup_tp

    1. Open the Teach Pendant by click on the following icon.

      image

    2. Open the setup menu by clicking the menu button.

      image

    3. Click throgh the setup options as you see fit but ensure you choose Continue with Guidance and Connect to Network when prompted.

    4. Cycle the power when you've finished.

  3. Load the KAREL server script with the following actions:

    build_karel

    1. In the project navigation pane, right click Files then select New File and KAREL source (.kl)
    2. Paste this KAREL script then hit build in the upper right hand corner.
  4. Create the server tag with the following actions:

    server_tag

    1. On the Teach Pendant keypad, press MENU to open the menu drop drown.
    2. In the drop down, highlight SETUP then select** Host Comm**.
    3. Using your keyboard, press F4 then 3
    4. Highlight the S3 option then press Enter
    5. Navigate to the Protocol option and select SM
    6. Navigate to the Startup State option then press F4 then 3
    7. Afterwards, press F2 then 1
    8. Afterwards, press F2 then 3
    9. On the Teach Pendant keypad, press MENU to open the menu drop drown and select NEXT, SYSTEM then Variables.
    10. Scroll until you see HOSTS_CFG (not HOSTC_CFG), press enter, select HOST 3 then change the SEVER_PORT to 12345
  5. Load and run the KAREL program with the following actions:

    start_server

OpenTAP Setup

  1. Clone this repository in a directory of your choice with the following command:
    git clone https://github.com/UCSC-Keysight/Fanuc-Cobot.git
  2. Build the plugin and launch the editor with the following commands:
    dotnet build
    bin\tap package install editorx
    bin\tap editorx
  3. Setup the bench setting by creating a CRX-20iA/L instrument
  4. Add the Move Cobot test step and change the joint values as you desire.

Technical Details

High Level Architecture

Untitled Diagram (2)

About

An OpenTAP plugin designed to interface with Fanuc's CRX-20 to automate test and measurement operations.

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