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FANUC MAPPDK Driver

0. Software compatibility

Fanuc controllers must have the following modules enabled:

  • R632 - KAREL
  • R648 - User Socket Messaging

Check the compatibility:

  1. Go to MENU -> NEXT -> STATUS -> Version ID. image

  2. Click ORDER FI. image

  3. Check for R632 and 648 in the list. image

For roboguide software, there are two possibilities.

  1. The roboguide cell is already existing, now we need to update the robot options to install R632 and R648. Then use the instructions below to serailize the robot and install the R632 and R648 package.
    image

Then you will enter the virtual robot edit wizard to install the R632 and R648 image

  1. It is a new workcell, which means you can install the R632 and R648 at the very first begining.

1. Network connection

Set up the ethernet connection with host and robot controller, then follow the below steps:

  1. Go to MENU -> SETUP -> Host Comm. 3

  2. Go to TCP/IP

real robot:

  • Set the Robot name, the IP addr to 192.168.234.2 or IP in the same subnet as the host computer. This is the IP address of the robot controller.

roboguide:

  • The IP address is 127.0.0.1 by default

  1. Set the Subnet Mask to 255.255.255.0.

  2. Set Host Name and Internet Address. This is the IP address of the host computer. image

  3. Disable DHCP: DHCP -> DHCP Enable: False.

  4. Activate the above settings by pressing INIT.

2. Server setup

The FANUC MAPPDK server by default uses server tag 'S8:' and port 18735.

  1. Go to MENU ->Next -> SYSTEM -> Variables.

    • 1.1. Select $HOSTS_CFG.

    image

    • 1.2. Press enter to select the number 8.
    • 1.3. Once you enter into a new place, set the variable $SERVER_PORT to 18735. image

  2. Go to MENU -> SETUP -> Host Comm.

    • 2.1. Select SHOW -> Servers.
    • 2.2. Select S8.
    • 2.3. Set Protocol to SM.
    • 2.4. Set Port to 18735.
    • 2.5. Set Startup State to START.
    • 2.6. Set Current State to STARTED:
      • Select [ACTION] -> DEFINE.
      • Select [Action] -> START. image

3. Logger setup

The FANUC MAPPDK logger by default uses server tag 'S7:' and port 18736. To setup the logger, follow the step for the FANUC MAPPDK server setup. Use S7 as the server, and 18736 as the port number. image

4. Running MAPPDK

  1. Copy the following files to a robot controller either using USB flash drive or FTP connection:

    • mappdk.ls: The MAPPDK main file which should be run from the teach pendant. This file runs MAPPDK server and MAPPDK logger. Uncomment the corresponding line to disable the functioality.
    • mappdk_server.pc: The MAPPDK server file.
    • mappdk_logger.pc: The MAPPDK logger file.
    • mappdk_move.ls: The MAPPDK move file.
    • mappdk_movel.ls: The MAPPDK linear move file. image

  2. In the teach pendant:

    • 2.1. Press SELECT.
    • 2.2. Locate MAPPDK.
    • 2.3. Run in T1/T2 or AUTO mode.

5. Reserved registers and frames.

  • MAPPDK uses the USER FRAME=8 and TOOL FRAME=8.
  • MAPPDK uses registers R[81] for velocity, R[82] for acceleration, and R[83] fo continuous value.
  • MAPPDK uses position register PR[81] for position and joint values.

6. Troubleshooting

In case of error or hanging python script:

  1. Select FCTN -> ABORT ALL.

4

  1. Re-run the MAPPDK.