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fanucpy

Python Interface for FANUC robots

https://github.com/torayeff/fanucpy

Science Score: 51.0%

This score indicates how likely this project is to be science-related based on various indicators:

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    CITATION.cff file
    Found CITATION.cff file
  • ✓
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    Found codemeta.json file
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    .zenodo.json file
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    DOI references
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    Links to: sciencedirect.com
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    1 of 4 committers (25.0%) from academic institutions
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    Low similarity (12.2%) to scientific vocabulary
Last synced: 7 months ago · JSON representation ·

Repository

Python Interface for FANUC robots

Basic Info
  • Host: GitHub
  • Owner: torayeff
  • License: apache-2.0
  • Language: Python
  • Default Branch: main
  • Size: 17.2 MB
Statistics
  • Stars: 306
  • Watchers: 22
  • Forks: 70
  • Open Issues: 10
  • Releases: 0
Created about 4 years ago · Last pushed over 1 year ago
Metadata Files
Readme License Citation

README.md

fanucpy: Python package for FANUC industrial robots

Software contents

The package consists of two parts: 1. Robot interface code written in Python programming language 2. FANUC robot controller driver (tested with R-30iB Mate Plus Controller) written in KAREL and FANUC teach pendant languages

The communication protocol between the Python package and the FANUC robot controller is depicted below: Communication Protocol

Python package installation

bash pip install -U fanucpy

Driver installation

Follow these steps to install FANUC driver.

Usage

Connect to a robot:

```python from fanucpy import Robot

robot = Robot( robotmodel="Fanuc", host="192.168.1.100", port=18735, eeDOtype="RDO", eeDO_num=7, )

robot.connect() ```

Moving

```python

move in joint space

robot.move( "joint", vals=[19.0, 66.0, -33.0, 18.0, -30.0, -33.0], velocity=100, acceleration=100, cnt_val=0, linear=False )

move in cartesian space

robot.move( "pose", vals=[0.0, -28.0, -35.0, 0.0, -55.0, 0.0], velocity=50, acceleration=50, cnt_val=0, linear=False ) ```

Opening/closing gripper

```Python

open gripper

robot.gripper(True)

close gripper

robot.gripper(False) ```

Querying robot state

```python

get robot state

print(f"Current pose: {robot.getcurpos()}") print(f"Current joints: {robot.getcurjpos()}") print(f"Instantaneous power: {robot.getinspower()}") print(f"Get gripper state: {robot.get_rdo(7)}") ```

Calling external program

python robot.call_prog(prog_name)

Get/Set RDO

python robot.get_rdo(rdo_num=7) robot.set_rdo(rdo_num=7, value=True)

Get/Set DOUT

python robot.get_rdo(dout_num=1) robot.set_rdo(dout_num=1, value=True)

Contributions

External contributions are welcome!

  • Agajan Torayev: Key developer
  • Karol
  • Fan Mo
  • Michael Yiu: External contributor

RobotApp

We introduce an experimental feature: Robot Apps. This class facilitates modularity and plug-and-produce functionality. Check the following example apps:

  1. Pick and Place App
  2. Aruco Tracking App
  3. FANUC ChatGPT

Citation

Please use the following to cite if you are using this library in academic publications Towards Modular and Plug-and-Produce Manufacturing Apps @article{torayev2022towards, title={Towards Modular and Plug-and-Produce Manufacturing Apps}, author={Torayev, Agajan and Mart{\'\i}nez-Arellano, Giovanna and Chaplin, Jack C and Sanderson, David and Ratchev, Svetan}, journal={Procedia CIRP}, volume={107}, pages={1257--1262}, year={2022}, publisher={Elsevier} }

Acknowledgements

This work was developed at the Institute for Advanced Manufacturing at the University of Nottingham as a part of the Digital Manufacturing and Design Training Network.

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grant agreement No 814078.

Owner

  • Name: Agajan Torayev
  • Login: torayeff
  • Kind: user
  • Location: London, UK

CEO & Co-Founder @ Robominder.AI

Citation (CITATION.cff) 

cff-version: 0.0.1
message: "If you use this software, please cite it as below."
authors:
- family-names: "Torayev"
  given-names: "Agajan"
  orcid: "https://orcid.org/0000-0002-8141-5704"
title: "fanucpy"
version: 0.1.13
date-released: 2022-01-01
url: "https://github.com/torayeff/fanucpy"

GitHub Events

Total
  • Watch event: 153
  • Issue comment event: 1
  • Push event: 1
  • Pull request event: 2
  • Fork event: 30
  • Create event: 1
Last Year
  • Watch event: 153
  • Issue comment event: 1
  • Push event: 1
  • Pull request event: 2
  • Fork event: 30
  • Create event: 1

Committers

Last synced: about 3 years ago

All Time
  • Total Commits: 42
  • Total Committers: 4
  • Avg Commits per committer: 10.5
  • Development Distribution Score (DDS): 0.19
Top Committers
Name Email Commits
Agajan Torayev t****f@g****m 34
Agajan Torayev (staff) A****v@n****k 4
Fan Mo 6****7@u****m 3
Moon-Lord n****5@y****e 1
Committer Domains (Top 20 + Academic)
yahoo.de: 1 nottingham.ac.uk: 1

Issues and Pull Requests

Last synced: 8 months ago

All Time
  • Total issues: 27
  • Total pull requests: 9
  • Average time to close issues: 19 days
  • Average time to close pull requests: about 16 hours
  • Total issue authors: 15
  • Total pull request authors: 5
  • Average comments per issue: 4.81
  • Average comments per pull request: 0.11
  • Merged pull requests: 9
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 0
  • Pull requests: 1
  • Average time to close issues: N/A
  • Average time to close pull requests: less than a minute
  • Issue authors: 0
  • Pull request authors: 1
  • Average comments per issue: 0
  • Average comments per pull request: 1.0
  • Merged pull requests: 1
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • ZdenekM (5)
  • sansoy (4)
  • qboticslabs (3)
  • madinwei (3)
  • bigeetea (2)
  • torayeff (1)
  • Rolix57 (1)
  • nilic993 (1)
  • sjctyjin (1)
  • juhannc (1)
  • GeraltRivskiy (1)
  • abouju64 (1)
  • baconkcode (1)
  • heLiiOs-eNg (1)
  • ArthurRyan0803 (1)
Pull Request Authors
  • torayeff (3)
  • mf093087 (3)
  • Moon-Lord (1)
  • karylsienn (1)
  • zal-jlange (1)
Top Labels
Issue Labels
Pull Request Labels

Packages

  • Total packages: 1
  • Total downloads:
    • pypi 127 last-month
  • Total dependent packages: 1
  • Total dependent repositories: 1
  • Total versions: 14
  • Total maintainers: 1
pypi.org: fanucpy

Python package for FANUC industrial robots

  • Versions: 14
  • Dependent Packages: 1
  • Dependent Repositories: 1
  • Downloads: 127 Last month
Rankings
Dependent packages count: 4.8%
Forks count: 8.0%
Stargazers count: 8.1%
Average: 11.7%
Downloads: 15.9%
Dependent repos count: 21.5%
Maintainers (1)
torayeff
Last synced: 7 months ago

Dependencies

pyproject.toml pypi
  • numpy ^1.22.3
  • opencv-contrib-python ^4.5.5
  • python >=3.8,<3.11
  • scipy ^1.8.0