ARCOR2 Fanuc Service
Project description
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,
[0.1.0] - 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).
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