arcor2_fanuc

For the server to work, there must be a running MAPPDK driver on the robot. So far, it has been tested with LRMate 200iD/7L (for which there is also a model, adapted from ROS Industrial), but it should work with any robot driven by the R-30iB Mate Plus Controller.

Environment variables

• ARCOR2_FANUC_SERVICE_NAME - set the service name ("Fanuc Service" by default).
• ARCOR2_FANUC_SERVICE_URL=http://0.0.0.0:5027 - by default, the service listens on port 5027.
• ARCOR2_FANUC_ROBOT_HOST - ip address of the robot ("192.168.104.140" by default).
• ARCOR2_FANUC_ROBOT_PORT - port of the MAPPDK server (18735 by default).
• ARCOR2_FANUC_EEF_DO_NUM - digital output which controls the end effector (1 by default).
• ARCOR2_FANUC_MAX_VELOCITY - max TCP velocity (mm/s, 6000 by default).
• ARCOR2_FANUC_MAX_ACCELERATION - max TCP acceleration (mm/s-2, 100 by default).
• ARCOR2_FANUC_Z_AXIS_OFFSET - offset between base and origin of robot's world coordinate system, which is at J2 (330 by default). ARCOR2_FANUC_DEBUG=1 - turns on debug logging.

Changelog

The format is based on Keep a Changelog,

[0.4.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.

[0.3.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.

[0.2.0] - WIP

Changed

• BREAKING: Implement new error handling flow. Error codes of every endpoint were replaced with error types as described in swagger documentation.

• Update API description.

Added

• New exception classes

[0.1.0] - 2022-05-23

Added

• Initial release of the Fanuc Service - REST API based on fanucpy library.
• The package also contains universal ObjectType and a URDF model for LRMate 200iD/7L (adapted from ROS Industrial).