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Unable to upload drivers to Fanuc M20iD/35 using R30iB plus controller

#1
Hello,

I am trying to do online programming of Fanuc M20iD (with R30iB plus controller) using RoboDK. However, I am unable to upload the Fanuc V9 driver files (https://robodk.com/doc/en/Robots-Fanuc-R...Fanuc.html) . I tried doing it using a USB thumb drive on the teach pendant, but it didn't even list those files. So I tried to see if I can do it via ftp and all the files reported some kind of an error, the logs of which I have attached below. We currently have the Karel option, User Socket Messaging option enabled and are in the process of acquiring the PC Interface (R641) option. Most of these errors don't look like they are because of the pending option. Is it possible that some syntax or formatting error (possibly because the drivers in the link above are outdated) is preventing us from being able to upload some of these files? Also are there any updated Fanuc Robot Driver files I can use because the ones in the link are from 2021?


Note: We are able to do offline programming on this robot using RoboDK



Quote:ftp> mput *
mput RDK_S3.PC? y
200 PORT command successful.
150 ASCII data connection.
550 EOF occurs in file access
7140 bytes sent in 0.00 secs (25.7926 MB/s)
mput go_mc.tp? y
200 PORT command successful.
150 ASCII data connection.
550 Can not read file
158 bytes sent in 0.00 secs (13.6982 MB/s)
mput go_mj.tp? y
200 PORT command successful.
150 ASCII data connection.
550 Can not read file
155 bytes sent in 0.00 secs (4.6194 MB/s)
mput go_ml.tp? y
200 PORT command successful.
150 ASCII data connection.
550 Can not read file
155 bytes sent in 0.00 secs (4.6194 MB/s)
mput go_mls.tp? y
200 PORT command successful.
150 ASCII data connection.
550 Prog uses un-installed option.
197 bytes sent in 0.00 secs (4.5823 MB/s)
mput go_prog.tp? y
200 PORT command successful.
150 ASCII data connection.
550 Prog uses un-installed option.
302 bytes sent in 0.00 secs (6.1279 MB/s)
#2
You should have less issues if you transfer the files using a USB drive. You may need to copy the files to the FR drive before you can run a program.

Do you see the program files if you follow these steps?
https://robodk.com/doc/en/Robots-Fanuc.h...nsferFanuc

You may need to use a USB 2.0 drive with less than 16 GB (some controllers don't support bigger thumb drives).
#3
Hi Albert,

Thanks for replying. Previously I was using a 32 GB thumb drive and it didn't seem to work. Based on your suggestion, I tried with a USB 2.0 - 4 GB drive and it was able to read those files and load it.

Still waiting for the PC interface option to be installed, but I was able to run the RDK_S3.pc file on the TP without any errors and it's currently stuck at COMM_INIT line 76 and doesn't communicate with RoboDK yet. Will keep you posted on this once I have the PC interface option installed
#4
Great, thank you for your feedback.
#5
Hi Albert,

I was able to control the robot via RoboDK using the Robot Pilot app, once the PC interface option was installed. However, I am unable to do joint control of the robot using the same and I am only able to do reference and tool control. In the joint control mode, it reports the following error.

"Invalid robot joints or unable retrieve joints from connected robot"

Here are the debug logs from the driver.
```
Ready
Sending command...
Sent Packet raw:
090000005800000070e4ed72ff7f00000000000000000000e955ecfa737f00000500000000000000f0e1ed72ff7f0000583202f0737f0000cf80ecfa737f0000000000000000000000000000000000000400000000000000
Sent Packet reversed:
000000090000005872ede47000007fff0000000000000000faec55e900007f73000000050000000072ede1f000007ffff002325800007f73faec80cf00007f73000000000000000000000000000000000000000400000000
Received Packet raw:
000000090000001440b2bbae416b0779c1bccbf0bf94e61fc2a5697dc1ce03d00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
Received Packet reversed:
0900000014000000aebbb24079076b41f0cbbcc11fe694bf7d69a5c2d003cec10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
Ready
```

Let me know, if you need any more info. How do I proceed from here ?
#6
Are you trying to connect to a Fanuc robot? Are you using the latest version of RoboDK?

The extra debug information should not show with the latest version of RoboDK and using the default settings.

If you tried this with the latest version it would help if you can send us the full log.
  




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