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Death Adder
07-23-2006, 11:21 PM
I don't know if anyone would be interested but I just completed (well it works anyway) a G-Code to Fanuc Teach Pendant Program converter. It basically does exactly what it sounds like. You input a gcode program (currently only for flat cutting AKA using your 6 axis robot as a flatbed blank cutter) and the program spits out a TP program that can be directly compiled and run on the robot. This is a different sort of CNC program but still CAM nonetheless. It supports all sort of goodies like static offsets, position register offsets, different tools and work frames, and setting the head orientation. Graphical viewing of the path is there too. Currently I'm a little iffy on whether the arc correction is working right... What I mean by that is - Fanuc robots follow arcs based on start, end, and a third point that lies on the curve. GCode has a start, end, and arc centerpoint. You need to calculate the third point for the robot for each curve. It seems to work but some cases get improperly figured and I'm not sure if it's surfcam's fault or mine... Might be a tough thing because when I ran these sort of paths out of surfcam to my old gantry flatbed cutter it would screw up the arc corners sometimes too. I think it has to do with having very small radii on corners. The flatbed controller messed up the same way my software is doing. ;(

Is there any interest in a program that can generate Fanuc robot programs? I might even write a compiler to turn the ascii output into binary TP programs if anyone has a need for that (like, say, if you can't get your hands on the maketp program from Fanuc.)

dig_dirt
09-13-2006, 05:43 PM
yes I would love to see what you have. The problem with your cuve end may be in the motion control setting in the sysvars file of the robot. The program I would like to see is the one that turns 2d g code patterns into tp programs

Death Adder
10-29-2006, 10:11 PM
yes I would love to see what you have. The problem with your cuve end may be in the motion control setting in the sysvars file of the robot. The program I would like to see is the one that turns 2d g code patterns into tp programs

Well, since I wrote that I fixed the arc problems. But now I'm rewriting it in C# (.NET2005). It sort of works but there are some weird problems. I don't use the SysVars file right now. I'm not sure if I'd need to. So long as it outputs 2D paths with the head axes locked things should be OK. I've used it like that on my setup.

Anyway, someday hopefully there will be something useable. I hope to fix up the C# version and get OpenGL visualization of paths working fairly soon.

ikke
01-30-2007, 01:51 AM
Is there any interest in a program that can generate Fanuc robot programs? I might even write a compiler to turn the ascii output into binary TP programs if anyone has a need for that (like, say, if you can't get your hands on the maketp program from Fanuc.)

Here's some interest...
After 10 years of programming CNC machines I've been asked to program our Fanuc Robots (P-145 + R-J3) but I'm unable to do this off-line on my PC.
The only method we're using today is with the teach pendant.
Maybe you can explain how to convert the binary files to ASCII so I could try to make a conversion program in Visual Basic...
I'm also interested in the development of the G-code to TP program.

Death Adder
02-04-2007, 05:59 PM
The robot's control software is capable of converting a binary robot file into an ascii file. You use the teach pendant to go into the program selection screen and move over to SAVE. It will send the ascii file to a connected PC through the serial port. That's with an RJ1 robot. You might be able to hook it up via ethernet with an RJ3 but I've no experience with anything other than an RJ1.

The correct software to interface a PC with the robot hopefully came with your robot or you purchased it seperately... Otherwise there's trouble. I do indeed have a GCode -> TP program but it still needs the maketp utility from Fanuc to convert the resulting ascii file (which is in the same format that the robot will send to a PC) into a binary TP file. Unfortunately there is no free or open source alternative to maketp. You really have to get it from Fanuc or find someone who will be willing to send it to you.

I use maketp to compile my programs and then use KFloppy to make a connected PC appear to be a fanuc floppy drive to the robot. This allows for sending and receiving programs. Without KFloppy and MakeTP you will be severely limited in what you can do.

I'm going to try to clean up my C# version of the GCode to TP program and upload it somewhere. Hopefully, even though I haven't had much time to commit to this, it will help someone else. And maybe, if I'm lucky, somebody will help fix it up and send the changes to me. ;-)

Daresh
03-12-2007, 01:17 PM
I would also like to see Your work :)

I'm searching for alternative ways to control a robot, basing on CAD models and I need some kind of software to convert.

I presume there is no such software from FANUC...

Death Adder
03-12-2007, 01:42 PM
Sure fanuc has software to do things like that. And it's only something like 15000 dollars. It's steal I tell you! ;-)

I'll try it get that program out soon.


I would also like to see Your work :)

I'm searching for alternative ways to control a robot, basing on CAD models and I need some kind of software to convert.

I presume there is no such software from FANUC...

Daresh
03-12-2007, 02:13 PM
Thank's a lot! :)


I'll try it get that program out soon.

roboticguru
03-29-2007, 08:36 AM
I would also like to see this. I was considering writing something like this last night. I've been using the Fanuc software to create paths. It is very tedious and time consuming to use. This could be the answer :)

Death Adder
04-01-2007, 07:19 PM
I would also like to see this. I was considering writing something like this last night. I've been using the Fanuc software to create paths. It is very tedious and time consuming to use. This could be the answer :)

Yeah, sorry for being such a jerk and not uploading it for FOREVER. But I did finally do it! It's currently being moderated (so someone has got to approve it) but it's in the downloads area in the open source catagory. Hopefully it'll be of use to some of you.

Death Adder
04-06-2007, 10:14 PM
Seems like that file never saw the light of day in the downloads section... Bum deal! I'm attaching it to this post instead.

kiethnt
04-07-2007, 02:23 AM
Dear Death Adder,
I have just read you program Robot Translator, it's very interested for me because now I'm doing a small project, in which I would like to convert G_code of CNC machine to robot program for KUKA robor (not Fanuc). A big problem here is I 'm not familarly with VB, i just do with VC++, so I would like ask you that if ou have the source code written by VC++ please give me, or show me how to do it. any way I want to say thank very much for your post.

kiethnt
04-09-2007, 02:56 AM
Dear Mr Death adder,
I had to test run your program RoboTranslator and the result is OK but accept function for 6 axis Rhino to robot path, I think there is a problem with the code here. Could you please check them again. The error when I debug is shown as below:
Open "c:\debug.txt" For Input As #5

Death Adder
04-09-2007, 07:14 AM
Dear Death Adder,
I have just read you program Robot Translator, it's very interested for me because now I'm doing a small project, in which I would like to convert G_code of CNC machine to robot program for KUKA robor (not Fanuc). A big problem here is I 'm not familarly with VB, i just do with VC++, so I would like ask you that if ou have the source code written by VC++ please give me, or show me how to do it. any way I want to say thank very much for your post.

Both the VB and C# versions are in the same zip file. The two directory names are really similar (something like RoboTranslator and RobotTranslator) but they are different programs. The C# version should look similar enough to C++ code to be understandable.

Death Adder
04-09-2007, 07:21 AM
Dear Mr Death adder,
I had to test run your program RoboTranslator and the result is OK but accept function for 6 axis Rhino to robot path, I think there is a problem with the code here. Could you please check them again. The error when I debug is shown as below:
Open "c:\debug.txt" For Input As #5

That's because the 6 axis rhino to robot code is really, really experimental and probably doesn't really work at all. The actual working code is the one for 2D shape cutting. The full 6 axis stuff doesn't work right as far as I remember. I was toying with getting it to work but I ended up just manually teaching the robot for the project we were doing. I haven't had time to fix it up.

In order for you to even test the 6 axis rhino code you'd have to have the RhinoScript files that I wrote and have a copy of Rhinosaurus 3D.

I think that my biggest trouble in getting it working was getting good data out of rhino. There's some magic that must be done to make sure that all normals are pointing the right way. That and I was trying to get fake surface normals out of rhino just off of curves. That's not really so correct because curves don't have surface normals, surfaces do. So, eventually I'll have to use the curves but project them to surfaces and take the normals off of the surface. Even then, surfaces can be facing the wrong way and have to be flipped.

Needless to say, there's some work yet to do on the 6 axis stuff.

kiethnt
04-10-2007, 11:51 PM
Dear Mr Death Adder,
There is one problem in your program Robot Translator, I test run with G_code file for 2D contouring but it can not convert CIRCLE or Arc motion if that is defined by G02 X _ Y _ R _. Could you please show me how to convert this code to CIRCLE motion in robot. Please see the code as below. Thank for your help.
%
O0000
(PROGRAM NAME - 2DCONTOUR_MILLING PROJECT1)
(DATE=DD-MM-YY - 12-03-07 TIME=HH:MM - 10:00)
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%

Death Adder
04-11-2007, 08:17 AM
Sorry, I should have clarified: Your GCode needs to be somewhat special for the program to understand it. The C# code has comments that indicate what to do. I think the arc moves are G20 and G30. There is no circle move currently programmed but it wouldn't be hard. It also wouldn't be hard to make it understand standard GCODE. I don't remember why I didn't use the standard gcodes for arc moves... maybe I was just being lazy. I think that the program works best when arcs are split to quadrants so programming a circle move would be easy enough. Just make four arc moves, one for each quad.

I'll try to actually get around to working on the code again someday but I uploaded it partly because I haven't had a lot of time to work on it and it's been just sitting here in the same shape for quite a while. Maybe this renewed interest will finally get me to work on it again.

kiethnt
04-11-2007, 09:54 AM
Dear Mr Death Adder,
I think you confused what I mean, acctually this code I shown as above which just for Arc motion, but in standard G_code we can declared by two way:
1. G02 X--Y--I--J-- in which I and J is incremental distance from start point (previous point) to X,Y coordinate of center point.
2. G02 X--Y--R-- R value is here radius of arc from center point.
In fact, your program just translate ARC motion with I--J-- value so I would ask you that if the arc motion is declared by radius R what could I do? Can you explain mor detail about your algorithm when translate arc motion with I--J--
Anyway I would like to say thank a lot for your cooperating. I hope you will come back with this project soon because It is really hot for industrial robot now.

Death Adder
04-11-2007, 10:19 AM
Oh, I think I see what you mean. I didn't have any experience with using R moves. All I've ever used was IJK moves. But, it seems like the general idea is as so:

Starting at:
X0Y1

Then the arc move is
X1Y0I0J0

So that the circle is centered at 0,0 and we're drawing a quarter circle from 0,1 to 1,0

Now the R equivalent would be
X0Y1
X1Y0R1 because the circle is radius one.

In that simple case it's easy to see how both forms relate to one another. But I'll have to do some digging to try to figure out the generic way of converting. It'll be a bit trickier. Though, it's not necessary to convert from R to IJK. Really, all we need to do is figure out how to come up with a center point given XYR. It shouldn't be too hard but I'll have to think it out and do some research.



Dear Mr Death Adder,
I think you confused what I mean, acctually this code I shown as above which just for Arc motion, but in standard G_code we can declared by two way:
1. G02 X--Y--I--J-- in which I and J is incremental distance from start point (previous point) to X,Y coordinate of center point.
2. G02 X--Y--R-- R value is here radius of arc from center point.
In fact, your program just translate ARC motion with I--J-- value so I would ask you that if the arc motion is declared by radius R what could I do? Can you explain mor detail about your algorithm when translate arc motion with I--J--
Anyway I would like to say thank a lot for your cooperating. I hope you will come back with this project soon because It is really hot for industrial robot now.

kiethnt
04-12-2007, 01:37 PM
Dear Death Adder,
I think we don't need to think more about CIR motion with radius R because we can convert them to I, J, K by changing some parameter in POST file.pst. One more problem I would like to conform with you again: is the code for 3D arc running OK? Can you give me the algorithm to translate 2D contour and 3D arc document?. I really want to read them again before I continue this research. Many thank for your help.

SteveChristie
10-30-2007, 01:35 PM
Dear Death Adder

Is it possible to get a copy of the G code converter? We have a Fanuc S420iF with RJ-2 controller and would like to try it out.

Death Adder
10-30-2007, 02:33 PM
Dear Death Adder

Is it possible to get a copy of the G code converter? We have a Fanuc S420iF with RJ-2 controller and would like to try it out.

Yes. In fact, I attached the program to a previous post in this thread. I do not remember if it had the EXE's or just the source code. If there were no EXE's then I could post a version that has them.

SteveChristie
10-30-2007, 03:24 PM
I got it with the exe files and all the source code. Thanks alot. I guess we won't be able to try it until we get some CNC programming software. Any suggestions? We are looking for something that is capable of creating the tool paths automatically from a CAD file or Solidworks model. The project objective is to create usable robot positional data from a CAD file with no operator intervention. We are dealing with sheat metal products that need to be MIG welded and ground smooth. Thanks again.

Death Adder
10-30-2007, 07:46 PM
Well... I use SurfCAM. That might just be a tad pricey though for sheetmetal cutting. BobCAD is cheap as dirt and it shows. But you can probably talk their bloodsucking leech sales people into practically giving you the software.

Still... Both SurfCAM and BobCAD are going to require someone to load up the CAD data and specify cutter dimension (everything that cuts with a beam has some width after all)

If you know how to program it should be somewhat possible to load up the CAD data and just use a predefined beam width for your machine and have it automatically generate paths for the robot. Since you have the source code for my program you should (if you can program) be able to figure out how to generate LS files for a FANUC robot. A really large gotcha though is that programatically assuring you are cutting the outside properly could be difficult. Especially since there will probably be times where you'd like to cut the outside profile of a shape plus cut inside the profile of cutouts. This could be hard to assure within an automatic program. You really would probably be best to get a program which generates GCODE but requires some user interaction. There's just nothing like being able to see the path before you tell 10's of thousands of dollars worth of equipment to cut into hundreds of dollars worth of steel.

Keep in mind (and everyone must keep this in mind): MY PROGRAM GENERATES LS FILES NOT TP FILES. This means, you still must use the fanuc compiler (maketp) to compile the LS file to TP for upload to the robot. I have not reverse engineered maketp so you still have to have it to do offline programming of a fanuc robot.

SteveChristie
10-31-2007, 09:58 AM
Thanks for the info on the CAM packages. I would like to elaborate a little further on our project. We are a manufacturer of electrical enclosures. The enclosures are fabricated from sheet metal. They are punched on a CNC turret press, folded on a CNC press brake, stud welded, MIG welded and ground smooth, plus spot welded. Our intention is to automate all these processes with robotics. There would be a robot that would remove the parts from the punch press and deburr them. Another robot would operate the press brake. There would also be robots that would stud weld and spot weld plus a robot that would MIG weld and grind those welds smooth. In addition to the processing robots mentioned above, other robots would be used to handle the parts for the processing robots. The long term objective of this system is to use it to produce any custom precision sheet metal part within the limits of the system's capability. To program the robots we are thinking of using a CAM type software package that will automatically produce tool paths that would represent MIG welds, grinds, spot welds, and stud welds. Is there a CAM package out there that has good tool path automation capabilities? For example, is it possible to write scripts in SurfCam that will recognize a feature (like a MIG weld on the surface of a part) and create a tool path for that feature automatically? We have been talking to a salesman at DelCam. What do you think of it?

Death Adder
10-31-2007, 03:45 PM
Aah... I see... I was thinking that you were trying to do 2d cutting of shapes but I understand what you want to do now.

I've used DelCam Powermill and it's a fairly decent package. Of course, I used a version from something like 2000 so I don't know what they've done since then. If I remember correctly it does work better with scripting and custom work than SurfCAM.

What you want to do is no easy task by any means. The software I wrote so far only works in 2D whereas your project would require full 6 axis support. Granted, writing to the file is already done by my project but the hard part (and it is hard) is to get good paths for a robot that position it's 6 axes correctly. I'm not sure how well anything from Delcam will be able to do that.

I suppose you could use the robot mode where you move the end effector in 3D plus have a 3d orientation of that effector. At that point you'd need to be sure of two things: (On fanuc robots this is called Tool positioning)

1. You aren't hitting anything with the robot arm. This isn't that easy to figure out. However, you can mostly get away from this so long as your robot never reaches over the part. If it's always just pointing at a part in front of it then it shouldn't be able to hit anything.
2. What orientation the end effector should be in. This is easier. For welding and grinding and such the end orientation is just an offset from the surface normal of the part at the point you are working at. For instance, for welding you might hold the gun at a bit of an angle from being perpendicular to the surface.

Good software for doing what you want is about 15,000. There is an addon to Solid Works that allows one to program robots off of SolidWorks models. Creatively enough, it's called RobotWorks. It seems pretty nice if you've got the money to drop on it.

SteveChristie
10-31-2007, 04:02 PM
Thanks for the feedback on DelCam. I am going to take a closer look at it. I looked into Robotworks and its requires a CAD operator to manually select the surfaces that are related to the robot paths. As I mentioned before we are looking for software that can automate these tasks. My search continues but you have given some things to check out. Thanks again.

fierros
11-09-2007, 09:47 AM
Seems like that file never saw the light of day in the downloads section... Bum deal! I'm attaching it to this post instead.
hi
i have the fanuc wintpe this software allows insert positions from cnc software using formats .apt,cl. o .txt using format x,y,z,w,p,r sample 100.02, 50.01, 34.45, 34.45,34.25,45.67 and no arcs. just point to point.

does your program help me to converts gcode to any this formats.

thanks

Death Adder
04-01-2008, 09:26 AM
hi
i have the fanuc wintpe this software allows insert positions from cnc software using formats .apt,cl. o .txt using format x,y,z,w,p,r sample 100.02, 50.01, 34.45, 34.45,34.25,45.67 and no arcs. just point to point.

does your program help me to converts gcode to any this formats.

thanks

Not really... The program I wrote goes from GCode directly to TP. It's exactly what the wintpe program allows you to do with .APT files but mine uses GCode files and also supports arcs. Think of my program as a replacement for WinTPE.

Death Adder
12-16-2008, 09:06 AM
hi Death Adder , My company have just by an ARC Weld 100ibe of Fanuc, it use R-J3ib controller . I want to use my Robot as CNC 5 Axis and want to write a program to convert from GCode to .TP file to load into Teachpendant but i don't know about the Contruction of .TP binary file . Do you have any information about contruction of .TP file .


Or You can help me the link about the program MakeTp of Fanuc , i can buy if it is Helpfull
Hope you answer!

Sadly, I do not have any information on the binary .TP format. I only know how to construct the ASCII version (.LS) which MakeTP can turn into TP files.


You can purchase the Fanuc software directly from Fanuc but it will be something like 15000 US dollars.

shinichifans
03-07-2009, 04:53 AM
no one attention in this topic .

Musick7
05-22-2009, 01:48 PM
The robot's control software is capable of converting a binary robot file into an ascii file. You use the teach pendant to go into the program selection screen and move over to SAVE. It will send the ascii file to a connected PC through the serial port. That's with an RJ1 robot. You might be able to hook it up via ethernet with an RJ3 but I've no experience with anything other than an RJ1.

The correct software to interface a PC with the robot hopefully came with your robot or you purchased it seperately... Otherwise there's trouble. I do indeed have a GCode -> TP program but it still needs the maketp utility from Fanuc to convert the resulting ascii file (which is in the same format that the robot will send to a PC) into a binary TP file. Unfortunately there is no free or open source alternative to maketp. You really have to get it from Fanuc or find someone who will be willing to send it to you.

I use maketp to compile my programs and then use KFloppy to make a connected PC appear to be a fanuc floppy drive to the robot. This allows for sending and receiving programs. Without KFloppy and MakeTP you will be severely limited in what you can do.

I'm going to try to clean up my C# version of the GCode to TP program and upload it somewhere. Hopefully, even though I haven't had much time to commit to this, it will help someone else. And maybe, if I'm lucky, somebody will help fix it up and send the changes to me. ;-)

I just received a Fanuc Robot S-5 with the Controller Big Box and the hand held Pendent.
and some other stuff... What is the "MakeTP" I might have that? But I need instructions on what it is. If you have already described it I havent gotten that far in the post. I would be very much interested in being able to use my Bot for CNC stuff. I was making a CNC MIll and was going to take apart my S-5 and use the parts to make a 5 axis cnc but if this works My CNC mill/Router/ Killer Robot is already done!
Is the MakeTP software or is it something else? VERY MUCH INTERESTED IN THIS!
Dude you ROCK!

roger_e
05-23-2009, 07:46 PM
Hey,

Interesting post...very cool. I am about to start a 5axis(I currently have a three axis using NSK spindle controllers) build and wanted to use it as a robot....can I use standard hardware(mechanical....ball screws steppes/servos and encoders) as if I was making a normal CNC?


Or what should I look out for versus making a CNC and hooking it up to a board?

Thanks

Roger

Death Adder
05-26-2009, 08:34 AM
I just received a Fanuc Robot S-5 with the Controller Big Box and the hand held Pendent.
and some other stuff... What is the "MakeTP" I might have that? But I need instructions on what it is. If you have already described it I havent gotten that far in the post. I would be very much interested in being able to use my Bot for CNC stuff. I was making a CNC MIll and was going to take apart my S-5 and use the parts to make a 5 axis cnc but if this works My CNC mill/Router/ Killer Robot is already done!
Is the MakeTP software or is it something else? VERY MUCH INTERESTED IN THIS!
Dude you ROCK!

maketp is software. It's a console mode windows program (I'm pretty sure i've tried to run it in just dos and it will not.) that compiles .LS files into the binary .TP format for FANUC robots.

<RANT>
I'm not sure where you might get it other than from Fanuc. However, they are near the lowest form of scum as far as I'm concerned. They are not going to be willing to give you the time of day or urinate on you to put you out if you were on fire. Unless, of course, you give them an exorbitant amount of money for software that the robot undoubtedly needs and originally had. I hate unscrupulous companies that do that. They are a hardware company but they try to dry up sales of used machinery by bullying people that buy used. It's not right.
</RANT>

So... umm... beats me how you'd get maketp...

Death Adder
05-26-2009, 08:37 AM
Hey,

Interesting post...very cool. I am about to start a 5axis(I currently have a three axis using NSK spindle controllers) build and wanted to use it as a robot....can I use standard hardware(mechanical....ball screws steppes/servos and encoders) as if I was making a normal CNC?


Or what should I look out for versus making a CNC and hooking it up to a board?

Thanks

Roger

Robots tend to have servos which drive gear reducers and such. There really aren't ballscrews. Things are hooked up through driveshafts and gearboxes then directly to the joint. You essentially could just hook motors right up to joints. But, they are pretty much just normal servos and servo amps and all that good stuff. The real problem comes when you need to calculate inverse kinematics to figure out how to move the joints in such a way as to get the kind of movement you would like.

DavitCNC
09-14-2010, 12:08 PM
One word for CAM programming robots....Robotmaster

http://www.robotmaster.com

tituscnc
09-14-2010, 05:02 PM
Hi Newbie here.

What are the best options to take,
Robot cutter or cnc table cutter.

I am keen to get a machine together.

Death Adder
09-15-2010, 06:59 AM
One word for CAM programming robots....Robotmaster

http://www.robotmaster.com

How many kidneys must one sell to be able to purchase even one license of that?!? If it's anything like any other robot software I've seen it'll be at least 15000 dollars.

DBarrington
10-29-2010, 04:53 PM
Death Adder, you kinda rock!
Exactly what I needed!

vvelikov
07-16-2012, 10:33 AM
old but very good thread!
any chance to have you for Kuka files - KRL?
keep it going man, the cnc robots are popular today - and they need software like that :)

Marktb
04-21-2014, 06:56 PM
Hi mr. Adder, I just recently found your post and is really interesting, I have a question about one of your programms, in your program Robot path translator v3.0, on the top I see a comm port settings, are these controls working for a fanuc robot? like a rj2?

thanks and great work.

Matheus Marques
11-11-2014, 07:05 PM
hello Mr Death Adder , I see you understand a great deal about fanuc robots , and if you can give me a hand , thank you very much!
the company I work for bought a s420iW with a fanuc controller RJ2
and would like to control the robot to do 3d printing 3d machining or through code files converted to g . tp , but found nothing specific , I know you have much experience in the matter .
I thank your attention .

Matheus Marques
11-17-2014, 09:31 AM
Death adder Hello , I have a huge appreciation for your help here in the forum , and I am also interested in this program that you wrote in this state where the program ? I wait for some contact her , even more.
Thank you .

atiaziz
02-27-2017, 03:15 AM
Hi Dear Death Adder
We have a Fanuc robot S-420if too, and I want to convert .dwg, .dxf and ... file format to a .tp format(in matlab or c#...).
Can I use this code for it!?Is this need to change or not?
thank you for your attention.

lubosko
03-06-2017, 09:57 AM
Use Roboguide for import your *dxf. In this program you will create *tp for robot