PC Developer’s Kit - FANUC Robotics Developer’s Kit Basic Description FANUC Robotics PC...
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PC Developer’s Kit Basic Description FANUC Robotics PC Developer’s Kit is a powerful tool that enables high performance communication of information and instructions between a PC and FANUC controller. The kit is both a development and run-time environment that gets the MS Windows™ application running quickly. Visual Basic programming expertise is required to develop application packages over PC Developer’s Kit. Features ■ Robot Server ■ Robot Neighborhood ■ FTP (File Transfer Protocol) for file access ■ Visual Basic Integrated Development Environment ■ Visual Basic Programming ■ Online documentation ■ Source files for example programs that use all Robot Server features Robot Server The heart of the PC Developer’s Kit is the Robot Server. It knows how to access the information needed from the robot controller and makes the controller follow the instructions. The Robot Server works with Visual Basic 6.0 and VB.Net code through an object oriented interface. When using an object’s property, method or event, the object handles the details of getting that action accomplished on the robot in the most efficient way. Programming with objects is fundamental to Visual Basic. Visual Basic’s rapid prototyping and powerful development environment and Robot Server objects virtually ensure the success of the application. Here is a partial list of the actions the application can do through the Robot Server: ■ Read/write variables – this includes user defined structures, arrays and path nodes along with the “simple” system and KAREL ® variables. ■ Read/write numeric registers – these are the variables of TPP programs. ■ Test or set I/O – all types (e.g. DI, DO, AI, AO, GI, GO, SI, SO, UI, UO, etc.) of I/O supported by the controller can be accessed. ■ Configure I/O – allows user to configure controller I/O. ■ Run programs – users can run a robot program from the PC. ■ Check program status – determine which program is running, aborted or paused. ■ Load/save programs – users can load a program to controller memory and save it to the PC. ■ Read/write positions – positions can be converted and presented in joint, cartesian or matrix representations. This includes KAREL positions, TPP positions, position registers, the current robot position, user frame, tool frame, jog frame and positions in system variables. ■ Monitor alarms – the entire alarm log is made available and updated as new alarms occur. ■ Coordinate with the robot program – TPP and KAREL programs can generate events to which the Visual Basic code responds. ■ Monitor variables, I/O, program status – display and update robot information on the PC screen through event handler.
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Transcript of PC Developer’s Kit - FANUC Robotics Developer’s Kit Basic Description FANUC Robotics PC...
PC Developer’s KitBasic Description
FANUC Robotics PC Developer’sKit is a powerful tool that enableshigh performance communication of information and instructionsbetween a PC and FANUCcontroller.
The kit is both a development andrun-time environment that gets the MS Windows™ applicationrunning quickly. Visual Basicprogramming expertise is requiredto develop application packages over PC Developer’s Kit.
Features
■ Robot Server■ Robot Neighborhood■ FTP (File Transfer Protocol)
for file access■ Visual Basic Integrated
Development Environment■ Visual Basic Programming■ Online documentation ■ Source files for example
programs that use all Robot Server features
Robot Server
The heart of the PC Developer’s Kit is the Robot Server. It knowshow to access the informationneeded from the robot controllerand makes the controller follow the instructions.
The Robot Server works with Visual Basic 6.0 and VB.Net code through an object orientedinterface. When using an object’sproperty, method or event, theobject handles the details of getting that action accomplished on the robot in the most efficientway.
Programming with objects isfundamental to Visual Basic. Visual Basic’s rapid prototyping and powerful developmentenvironment and Robot Serverobjects virtually ensure the success of the application.
Here is a partial list of the actions the application can dothrough the Robot Server:
■ Read/write variables – this includes user defined structures, arrays and pathnodes along with the “simple”system and KAREL® variables.
■ Read/write numeric registers – these are thevariables of TPP programs.
■ Test or set I/O – all types (e.g. DI, DO, AI, AO, GI, GO, SI, SO, UI, UO, etc.) of I/Osupported by the controller can be accessed.
■ Configure I/O – allows user to configure controller I/O.
■ Run programs – users can runa robot program from the PC.
■ Check program status –determine which program isrunning, aborted or paused.
■ Load/save programs – userscan load a program to controllermemory and save it to the PC.
■ Read/write positions – positions can be converted and presented in joint, cartesianor matrix representations. This includes KAREL positions,TPP positions, positionregisters, the current robotposition, user frame, tool frame, jog frame and positions in system variables.
■ Monitor alarms – the entirealarm log is made available andupdated as new alarms occur.
■ Coordinate with the robotprogram – TPP and KARELprograms can generate eventsto which the Visual Basic code responds.
■ Monitor variables, I/O,program status – display and update robot informationon the PC screen through event handler.
Robot Neighborhood
The Robot Neighborhood controls and monitors connections betweenthe robot server and the controller. It offers the following features:■ Connection sharing between
multiple applications ■ A directory of available robots
and their current status■ Disconnect detection and
automatic reconnect■ Robot Server keep-alive■ Access and control to both real
and virtual controllers
FTP
PC Developer’s Kit relies on theindustry standard FTP protocol toenable the application to list, read,write and delete files on thecontroller.
Integrated with VisualBasic’s IntegratedDevelopmentEnvironment
PC Developer’s Kit takes fulladvantage of Visual Basic’sIntegrated DevelopmentEnvironment (VB-IDE). Here’s how it fits into the extensive features of the VB-IDE: ■ Context sensitive help – press
F1 while the cursor is on any of the Robot Server objectcomponents and read moreabout it.
■ Statement builder – Visual Basic knows about the RobotServer’s object interface toanticipate the next keystroke and give the argument list for available robot objectproperty or method.
■ Object browser – all the robotserver’s object interfaces areshown; Use F1 for contextsensitive help.
Visual BasicProgramming
Visual Basic programming is needed to access robotinformation.
See the following example applicationto get an idea of what it takes toaccess robot information at the PC.The above example programpresents an updated display of themost recent alarm on any robot onthe network. Just enter the robot’snetwork name in the box below andpress connect. It has full errorhandling and many of the lines were automatically generated.
PC Requirements
■ Windows® 2000 XP■ AMD Athlon™ 64 or Pentium® 4 ■ 256 MB RAM■ 10 Base T Ethernet network
interface■ 10 MB free disk space ■ CD ROM drive■ Visual Basic 6.0
Controller Requirements
■ R-J3 and later controllers■ PC Interface Option
FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada3900 W. Hamlin Road (704) 596-5121 (905) 812-2300Rochester Hills, MI 48309-3253(248) 377-7000 Chicago, IL Montréal, CanadaFax (248) 377-7362 (847) 898-6000 (450) 492-9001
For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico1-800-47-ROBOT (513) 754-2400 52 (449) 922-8000
Los Angeles, CA Sao Paulo, Brazil(949) 595-2700 (55) (11) 3619-0599
[email protected] Toledo, OHwww.fanucrobotics.com (419) 866-0788©2006 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-4/06
