Test with ROBOGUIDE

This page explains how to develop with the Fanuc SDK without a real robot, with a virtual robot of FANUC ROBOGUIDE. The virtual controller of ROBOGUIDE runs the controller software on your PC, and the SDK connects to it like to a real controller.

Prerequisites

Software

• ROBOGUIDE, installed on a Windows PC. It is a FANUC product, with its own license: ask your FANUC contact.
• A workcell with a robot. Use the arm and the software options of your real cell.
• The workcell open in ROBOGUIDE, with its virtual controller started.

Options of the workcell

The options of the virtual robot are chosen when the workcell is created ("Robot options" step of the workcell creation wizard), as on a real controller:

Connect to the virtual robot

With the folder of the robot

Pass the folder of the robot in the workcell instead of an IP address. This folder contains the file services.txt, written by ROBOGUIDE: the SDK reads in it the ports of Telnet KCL, FTP, SNPX and CGTP, which are not the default ports of a real controller.

{
FanucRobot robot = new FanucRobot();
// Folder of the virtual robot in the ROBOGUIDE workcell. It contains services.txt.
var parameters = new ConnectionParameters(@"C:\Users\you\Documents\My Workcells\CRX 10iA L\Robot_1");

// The SDK reads the ports of these services in services.txt
parameters.Cgtp.Enable = true;
parameters.Ftp.Enable = true;
parameters.Snpx.Enable = true;
parameters.Telnet.Enable = true;
parameters.Telnet.TelnetKclPassword = "";

robot.Connect(parameters);
robot.Disconnect();
}

The folder of a robot is <workcell folder>\Robot_1 by default, for example C:\Users\you\Documents\My Workcells\CRX 10iA L\Robot_1. You can also pass the path of services.txt itself. With several robots in the workcell, connect one FanucRobot per robot folder.

From another PC

When ROBOGUIDE runs on another PC, share the folder of the workcell and pass its network path. The SDK reads services.txt in the share and connects to the PC named in the path.

{
FanucRobot robot = new FanucRobot();
// ROBOGUIDE runs on the PC "SIMU-PC", which shares its workcell folder.
// The SDK reads services.txt in the share and connects to SIMU-PC.
var parameters = new ConnectionParameters(@"\SIMU-PC\My Workcells\CRX 10iA L\Robot_1");
parameters.Cgtp.Enable = true;
parameters.Ftp.Enable = true;

robot.Connect(parameters);
robot.Disconnect();
}

Allow the ports of services.txt in the firewall of the PC that runs ROBOGUIDE.

Telnet KCL on ROBOGUIDE

The default Telnet port of a virtual robot is read-only. Enable the KCL port:

1. On the teach pendant of the virtual robot, open MENU, SETUP, PORT INIT.
2. Set Connector 1 to the device KCL/CRT.
3. Do a cold start of the virtual controller.

Without this port, Connect throws an exception that gives the same steps. Telnet KCL works up to ROBOGUIDE V9: ROBOGUIDE V10 does not simulate it. See Enable Telnet on your robot.

What works on ROBOGUIDE

Every feature of the SDK sends the same requests to ROBOGUIDE and to a real controller:

• registers, variables, I/O, alarms and programs, with CGTP, SNPX, Telnet KCL and FTP;
• the position of the robot and the kinematics on the controller;
• the motion with RMI and Stream Motion, when the option is in the workcell;
• the files and the diagnostics of the controller.

Use ROBOGUIDE to write and test your application, then run the same code on the real controller with its IP address.

Differences with a real controller

• The I/O of the virtual robot are not wired: simulate the inputs (see Control inputs & outputs).
• The ports of a virtual robot are in services.txt. With an IP address, the SDK uses the default ports of a real controller.
• Timings are not the timings of the real controller. SNPX can answer in less than 1 ms on ROBOGUIDE: do not measure cycle times on the simulator.

What to read next

• Connect to your robot: all the connection parameters.
• Demo application: try ROBOGUIDE without writing code.
• Move robot remotely: test the motion on ROBOGUIDE first.