FANUC Roboguide – Simulation Software
FEATURES
- Robot Server
- Robot Manager
- FTP (File Transfer Protocol) for file access
- Visual Basic Integrated
- Development Environment
- Visual Basic Programming
- Online documentation
- Source files for example pograms 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 R-30iA and R-30iA Mate Controllers and makes the controller follow the instructions.
The Robot Server works with Visual Basic 6.0 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.
- Robot Manager
- 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.
- 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.
ROBOT MANAGER
The Robot Manager controls and monitors connections between the Robot Server and the R-J3 and R-J3iB Controllers. 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
FTP
PC Developer’s Kit relies on the industry standard FTP protocol to enable the application to list, read, write and delete.
Visual Basic
Visual Basic’s Integrated Development Environment
PC Developer’s Kit takes full advantage of Visual Basic’s Integrated Development Environment (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 object components and read more about it.
- Statement builder – Visual Basic knows about the robot server’s object interface to anticipate the next keystroke and give the argument list for available robot object property or method.
- Object browser – all the robot server’s object interfaces are shown; Use F1 for context sensitive help.
Visual Basic Programming
Visual Basic programming is needed to access robot information.
See the following example application to get an idea of what it takes to access robot information at the PC. The above example program presents an updated display of the most recent alarm on any robot on the network. Just enter the robot’s network name in the box below and press connect. It has full error handling and many of the lines were automatically generated.
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