FANUC机器人通讯使用手册_发那科机器人通讯手册

FANUCRobotInte

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1.Overview

- 1 -

1 Overview

FANUC Robot Interface (FRRJIF.DLL) is Windows software module to read/write robot data with

robot over Ethernet.

Read:

I/O, current position, numeric

registers, position registers, string

registers, system variables, KAREL

variables, program task status, and

alarms

Write:

I/O, numeric registers, position

registers, string registers, system

variables, and KAREL variables

(*) FANUC Robot Interface does not support file transferring. Please use FTP or HTTP

for it.

1.Overview

- 2 -

FANUC Robot Interface is an ActiveX module. This document describes software interface of it.

FRRJIF.Core object provide methods to read/write robot I/O. It is possible to read/write area of

integrated PMC.

For accessing current position, position registers, string registers, comments, system variables,

KAREL variables, program status and alarm history, it is necessary to add needed data to DataTable

object (FRRJIF.Core.DataTable) at first. FRRJIF reads all of DataTable object at a time. It is called

‘Refresh’. Read values are kept until next refresh.

(*) DataTable for reducing read data by accessing data at a time.

A robot can have one connection with FANUC Robot Interface. A robot cannot have multiple

connections between multiple PCs. A robot cannot have multiples connections between multiple

applications on a PC. If multiple PCs or multiple applications access to a robot with FANUC Robot

Interface, it is not guaranteed.

You need to purchase one FANUC Robot Interface (A08B-9410-J575) to one development PC. For

additional licenses, you need to purchase one FANUC Robot Interface Runtime Library

(A08B-9410-J576) or one FANUC Robot interface runtime library with USB protector

(A08B-9410-J579) to one PC.

You can use FANUC Robot Interface 30 days after installation without license registration. You need

to input registration key to use it. Please refer "1.1 About Registration Key".

Or you can purchase or USB hard key. If you insert a hard key to your PC, you do not need to input

password. Please install hard key driver. You must not set hard key to the PC in the installing. Please

check protection status with "Robot Interface Protect Check" after the driver installation (Task bar

Start/Program/FANUC Robotics/ Robot Interface Protect Check)

FANUC Robot Interface does not have file transfer functions. You can use FTP to transfer files

between PC and robot.

2.Environment

- 5 -

2 Environment

OS:

Windows Vista (32bit), Windows 7(32bit), Windows 7(64bit) (*1),

Windows 8(32bit), Windows 8(64bit) (*1),

Windows 8.1(32bit), Windows 8.1(64bit) (*1)

Windows 10(32bit), Windows 10(64bit) (*1)

Development language:

Microsoft Visual Basic 6.0 + Service pack6 (*2)

Microsoft Visual Basic 2008 + Service pack1

Microsoft Visual Basic 2010, 2012, 2013, 2015

Microsoft Visual C++ 6.0 + Service pack6 (*2)

Microsoft Visual C++ 2008 + Service pack1

Microsoft Visual C++ 2010, 2012, 2013, 2015

Microsoft Visual C# 2008 + Service pack1

Microsoft Visual C# 2010, 2012, 2013, 2015

Robot Controllers:

R-J3iB 7D80/45 or later

R-J3iB 7D81/09 or later

R-J3iB 7D82/01 or later

R-J3iB Mate 7D91/01 or later

R-30iA, R-30iA Mate All Versions (*3)

R-30iB All Versions (*3)

ROBOGUIDE: (*3)

ROBOGUIDE V7 Rev.F(7N06) or later

Virtual Robot R-30iA 7DA5/15 or later

Virtual Robot R-30iA 7DA7/13 or later

Virtual Robot R-30iB All Versions

PC must communicate with robot over Ethernet. (Noise must not stop the communication. Correct

security settings are needed. )

(*) Virtual PC, VMWare and similar software are not supported.

Windows XP Mode of Windows 7 is not supported.

Remote desktop is not supported.

(*1) Even if you use Windows x64, you need to develop 32bit application with robot interface, not 64bit

application. You need to specify your project as x86. And you need to disable the Visual studio hosting

process in debug setting. Windows RT is not supported. Windows Store Application is not supported.

Windows Universal Application is not supported.

(*2) You can develop robot interface applications on only Windows XP for Visual Basic 6.0 and Visual

C++ 6.0.

(*3) If R650 FRA Params is selected, R553 "HMI Device (SNPX)" is needed. If R651 FRL Params is

selected, no option is needed.

(*4) Please refer "6. Connect To ROBOGUIDE".

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