Overview

This repository is part of the ROS-Industrial program.

The Fanuc Post Processor goal is to allow to create LS programs for Fanuc robots from ROS trajectories.

Dependencies

wstool

Install wstool.

rosdep

Install, initialize and update rosdep.

Compiling

Create a catkin workspace and clone the project:

mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone https://gitlab.com/InstitutMaupertuis/fanuc_post_processor.git
cd ..
wstool init src src/fanuc_post_processor/fanuc_post_processor.rosinstall

Resolve ROS dependencies

rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Compile

catkin_make

Testing

The package includes a test that showcases the usage of the library: test/program.cpp

Troubleshooting upload

If you have trouble uploading programs to your robots, here are simple tests to help you find what's wrong:

• Make sure you can ping the robot controller in a terminal: ping 192.168.1.1
• Make sure you have ASCII Upload; in your favorite web browser go to the IP address of the robot and check for the Ascii Upload option (R507) on the Summary Configuration/Status page
• Make sure you can connect to the FTP (using your credentials if applicable):

$ ftp
ftp> open 192.168.1.1
Connected to 192.168.1.1.
220 R-30iB FTP server ready. [ArcTool V8.20P/24]
Name (192.168.100.200:dell):
230 User logged in [NORM].
Remote system type is UNKNOWN.

• Make sure you can upload a simple program, ROS_TP_PROGRAM.ls

/PROG ROS_TP_PROGRAM
/ATTR
COMMENT = "ROS generated";
PROTECT = READ_WRITE;
DEFAULT_GROUP = 1,*,*,*,*;
/MN
:  !This is a ROS generated TP program;
:  DO[5]=ON;
:  WAIT  0.5(sec);
:  DO[5]=OFF;
/POS
/END

Upload it on with the FTP:

ftp> put ./ROS_TP_PROGRAM.ls
local: ./ROS_TP_PROGRAM.ls remote: ./ROS_TP_PROGRAM.ls
200 PORT command successful.
150 ASCII data connection.
226 ASCII Transfer complete.
215 bytes sent in 0.00 secs (7240.0 kB/s)

If the upload loops/fails, check the Teach Pendant alarm history to get details on the error and open an issue.