Robot drivers provide an alternative to Offline Programming (where a program is generated, then, transferred to the robot and executed). With robot drivers, it is possible to run a simulation directly on the robot (Online Programming). More information available in theRobot Driverssection.

A connection between RoboDK and the Fanuc robot can be established to move the robot automatically from a connected PC using RoboDK. This allows using the RoboDKRun on robotoption for online programming and debugging. The connection can be established through a standard Ethernet connection (TCP/IP).

Important: The driver will use and overrideUTOOL 1andUFRAME 1registers.Registers50, 51 and 52 andPosition Registers50, 51 and 52 are also used by the driver. All values in these registers will be overridden when the driver program is started. It is recommended to perform a backup before running the driver.

Note: This mode of operation requires the Fanuc software optionUser Socket Messaging(R636 or R648, depending on the controller) andPC Interface(R641).TheKareloption is also required to run PC files (R632). Alternatively, it is also possible to use thePCDKoption (make sure to select the FanucPCDK driver).

Follow these steps to set up the RoboDK driver for Fanuc:

1.Download theFanuc driver program filesand transfer the following robot programs to the robot controller:

a.RDK_S3.PC➔This is the main program that manages the communication through S3 (socket communication port number 3 – S3). Make sure to select the correct version (latest Fanuc robot controllers require using the version under the V9 folder).

b.GO_MJ.TP

c.GO_ML.TP

d.GO_MC.TP

e.GO_PROG.TP

Follow these steps on the robot teach pendant to prepare the communication between your Fanuc robot and RoboDK:

1.Select我nu-(Next)-System-[TYPE]-Variables.

a.Select$HOSTS_CFG(holding shift while selecting key down will help you scroll down faster)

b.Select Number 3

c.Set$SERVER_PORTto 2000
($HOSTS_CFG[3].$SERVER_PORT= 2000)

2.Select我nu-Setup

3.Select[TYPE]-Host comm

4.Select[SHOW]-Servers

5.Select“S3”-Enter.

a.SetProtocol NametoSM

b.在Port Name, if multiple ports are available: Set Port toP3(or the corresponding port).

c.Set InactivityTimeoutto9999

d.Set Startup state to[CHOICE] START

e.Set Current state toSTARTED:
To do so, select[ACTION]-DEFINE, then[ACTION]-START

6.Start the programRDK_S3:

a.Select theSelectbutton from the teach pendant.

b.Scroll down towards the RDK_S3 program

c.Select Enter (button from the teach pendant)

d.Select Shift-Reset and Shift-Forward to start the program
You should see the RUNNING message on the teach pendant. If the program failed to run it is likely that you don’t have a robot option (PC InterfaceorUser Socket Messaging) or you did not take the correct version of the PC program.

Robots Fanuc - Image 12

Note:If you see an error message such as “Undefined built-in” on line 72 it means your robot controller does not have the User Socket Msg option.

7.在RoboDK, provide the IP of the robot and select Connect to connect to the robot.

Note: If the communication fails or the robot enters in error mode you should restart the programRDK_S3and reconnect from RoboDK.

Note: The port 2000 is used as default for both RoboDK and Fanuc. The port in section 1.c can be different but the same port needs to be specified in RoboDK (“Robot port” section of the robot connection menu).

Important: If the program does not show as running it means that a controller option is missing. In this case you must contact Fanuc to activate the User Socket Messaging option.

Note: The program RDK_S3 must be selected and running for the robot communication to work properly. If the S3 register can’t be used for the robot driver you can load another PC file (such as RDK_S4) that uses another S register.

Note: If you have a position or additional exes, or the default axis mapping in RoboDK does not reflect the axis mapping of the real robot, you can modify the mapping for the driver by editing the file located in %appdata%\RoboDK-Drivers\ FanucSM.exe.ini.

RoboDK开车r for Fanuc