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Do I need karel R632?

asked 2016-04-20 06:32:28 -0600

Latuch gravatar image

Hello everyone, I'm working with Fanuc Arc mate 100ic and r-30ia controller, version 7.7. I want to write a program with kinect to detect objects and pick and drop them with Fanuc. Is there a possibility to communicate ROS without karel R632? R636 socket messaging is installed.

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answered 2016-04-20 06:38:49 -0600

gvdhoorn gravatar image

updated 2021-04-13 12:33:42 -0600

Edit (2021-04-13): it's most likely possible to run Karel binaries without R632.

If you are in doubt, post a comment below this answer.


Original answer:

Is there a possibility to communicate ROS without karel R632?

The fanuc_driver package has parts written in Karel. As far as I know, you need R632 in order to run Karel programs. Without that, communication with the ROS side of fanuc_driver is impossible (again, as far as I know). At least using socket communication.

Having said that, an alternative might be to use a fieldbus - such as EthernetIP or Profinet - between your R-30iA and the ROS PC, and to write robot_state and motion_streaming_interface alternatives that use that fieldbus to communicate. This would remove the need for Karel, as a TP program could be used to then read and write registers and perform moves. This would all need to be developed though.

If you would be interested in that, I'm more than happy to assist you.

In any case try to see whether you can run Karel programs. If you can, then it might well be that R632 is not required after all.


Edit:

R636 socket messaging is installed.

Note that the Requirements section on the fanuc_driver wiki page states that R648 (User Socket Messaging) is required. R636 is a different (but related) option.

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Oh ye I See now, so probably I will be forced to abandon ROS or I will contact Fanuc about options to educational purposes (university)

Latuch gravatar image Latuch  ( 2016-04-20 07:28:32 -0600 )edit

Asking them for educational licenses for R632 and R648 is always an option.

If you have access to a fieldbus, we might be able to figure something out, but without Karel & socket communication, it's going to need some development work. I'd be happy to assist, but you have to do it.

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 07:45:45 -0600 )edit

It's interesting, I have access to profibus and also to some small PLC, I think Siemens s300. But as far as I know ROS doesn't support PLC also.

Latuch gravatar image Latuch  ( 2016-04-20 08:13:16 -0600 )edit

There are quite some packages in ROS for communication with fieldbuses, see ROS Bridges for Common Field Busses for instance.

As to a PLC: the idea was: R-30iA <-> profibus <-> ROS PC, then use profibus to transmit trajectories and joint states. So no PLC.

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 08:35:32 -0600 )edit

In that case I would need some notebook profibus adapter, need to ask for some, or check prizes.

Latuch gravatar image Latuch  ( 2016-04-20 09:34:27 -0600 )edit

Yes, that would be a requirement. Anybus and Hilscher have some usb/pci hardware that can do it. I have no experience with it though. Apparently there are also some open-source projects that utilise RS232 and other UARTs. I'd try licensing R632 and R648 first though.

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 09:57:55 -0600 )edit

Another alternative might be to use the PLC as a gateway (provided your PLC has Profibus support). See Modbus Cognex In-Sight Camera and Siemens S7 PLC ROS wrapper.

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 09:59:09 -0600 )edit

The best alternative way I think would be OPC server on PC + PLC + Controller. Serial connection would be easy but I don't know yet how to transfer "commands", I mean without Karel option. I wrote to Fanuc and I'm waiting for a response.

Latuch gravatar image Latuch  ( 2016-04-20 10:26:18 -0600 )edit

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Asked: 2016-04-20 06:31:45 -0600

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Last updated: Apr 13