Python package for FANUC industrial robots
Project description
fanucpy: Python package for FANUC industrial robots
Acknowledgements
This work was developed at the Institute for Advanced Manufacturing at the University of Nottingham as a part of the Digital Manufacturing and Design Training Network.
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grant agreement No 814078.
Software contents
The package consists of two parts:
- Robot interface code written in Python programming language
- FANUC robot controller driver (tested with R-30iB Mate Plus Controller) written in KAREL and FANUC teach pendant languages
The communication protocol between the Python package and the FANUC robot controller is depicted below:
Python package installation
pip install fanucpy
Driver installation
Follow these steps to install FANUC driver.
Usage
Connect to a robot:
from fanucpy import Robot
robot = Robot(
robot_model="Fanuc",
host="192.168.1.100",
port=18735,
ee_DO_type="RDO",
ee_DO_num=7,
)
robot.connect()
Moving
# move in joint space
robot.move(
"joint",
vals=[19.0, 66.0, -33.0, 18.0, -30.0, -33.0],
velocity=100,
acceleration=100,
cnt_val=0,
linear=False
)
# move in cartesian space
robot.move(
"pose",
vals=[0.0, -28.0, -35.0, 0.0, -55.0, 0.0],
velocity=50,
acceleration=50,
cnt_val=0,
linear=False
)
Opening/closing gripper
# open gripper
robot.gripper(True)
# close gripper
robot.gripper(False)
Querying robot state
# get robot state
print(f"Current pose: {robot.get_curpos()}")
print(f"Current joints: {robot.get_curjpos()}")
print(f"Instantaneous power: {robot.get_ins_power()}")
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