fanuc_driver on fanuc collaborative series

answered 2020-08-17 13:59:00 -0500

gvdhoorn
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updated 2020-08-17 14:16:46 -0500

Can we also run ROS-Industrial driver on fanuc collaborative robot series i.e., fanuc_cr7ial, fanuc_cr35ia, fanuc_cr7ia. Are the configurations steps similar as given here and here.

Yes and yes.

Those robot models all use the same basic Fanuc controller (ie: R-30iB or R-30iB+). So as long as that controller has the required options, you can use fanuc_driver or fanuc_driver_exp.

But note: there is no special support for any of the collaborative features.

This is difficult in general (not just with ROS or with this driver): the robot's controller handles all the collaborative aspects locally, so anything trying to control the robot remotely will either interfere or be unaware of that.

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Hi @gvdhoorn, when you say "the robot's controller handles all the collaborative aspects locally", does that mean when using the ROS drivers the robot stays in collaborative mode? But if you were to turn off collaborative mode on the robot controller itself (through the pendant) using the ROS drivers would move the robot in non-collaborative mode?

robertdagenais ( 2021-11-11 16:09:45 -0500 )edit

What I meant with that sentence is that the driver does not know or take into account any collaborative features. If there is some collaborative action or limiting activated by the controller, it will be at the controller's initiative, and as always, the controller is in full control. The drivers are just user-level application programs, with no special access whatsoever.

does that mean when using the ROS drivers the robot stays in collaborative mode?

I cannot say anything conclusive here. In the end, the driver will just use regular J moves. If that keeps everything "collaborative" (whatever that may mean in a specific context), then the answer would be yes. But other than that, the drivers do not do anything special, nor are aware of, nor are explicitly compatible with any collaborative features of the robot controller.

Summarising: from the driver's perspective, a collaborative Fanuc is just like ...(more)

gvdhoorn ( 2021-11-12 00:36:14 -0500 )edit

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