Add RSI interface function to

FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER Optional Function OPERATOR’S MANUAL

1.Type of applied technical documents

FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER

Name
Optional Function OPERATOR’S MANUAL

Spec.No./Ed. B-83284EN-2/05

2.Summary of Change

New, Add,
Applicable
Group Name/Outline Correct,
Date
Delete

Basic

Optional
About RSI interface function Add Immediately
Function

Unit

Maintenance
Parts

Notice

Correction

Another

Title
About RSI interface function

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B-83284EN-2/05-09
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Edit Date Design Description FANUC CORPORATION
Followings are added as chapter 58.

58 RSI INTERFACE
“RSI“ is abbreviated from ”Remote Sensor Interface”. This is a function to communicate with RSI
device. This function sends position data etc. to device, which supports RSI, in real time.
The order of this function is “RSI Interface” (J802).
Jitter of sending time becomes better by ordering following Main board, which has fast COMM CPU
(communication processor).
- Main board C (Force sensor I/F, fast communication processor) A05B-2600-H003
- Main board F (Force sensor I/F, fast communication processor, I/O Link i slave compliant)
A05B-2600-H006

Data are sent by the robot controller through Ethernet port UDP communication to the external device
every communication interval of this function regardless the selected COMM CPU. Current
communication interval is set to system variable $RSI.$INTERVAL.

There are 2 types of Cartesian positional data this option send to: Measured and Forward. Both are
represented in XYZWPR format.

Measured Position is the actual position the robot moved to.

Measured Position is abbreviated as M_* where * are each of the XYZWPR positional elements.

Forward Position is the robot pre-planned position by default 3 interpolation times ahead of actual (or
Measured) position.
Forward Position is abbreviated as F_* where * are each of the XYZWPR positional elements

Scheme below depicts relationship between Forward Position and Measured Position.

past Current time future

t0-3 t0-2 t0-1 t0 t0+1 t0+2

Ft0 Ft0+1 Ft0+2 Ft0+3 Ft0+4 Ft0+5

F_*

Forward
Ft0+2 will be reached at t0+2
Ft0 will be reached at t0

M_*
Mt0-3 Mt0-2 Mt0-1 Mt0 Mt0+1 Mt0+2
Measured

When the target position is planned in the robot controller, the target position data is immediately sent to
external device via RSI but actual moving is waited for delay time ($AVC_GRP[1].$AVC_MODE[2]).
Therefore there may be a delay when this function is enabled and delay time is set, hence cycle time
becomes slightly longer, whose unit is communication interval, and the communication interval time is
set to $RSI.$INTERVAL with millisecond unit.
Time Before and Distance Before functions would consequently shift by same amount too.

Title
About RSI interface function

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Edit Date Design Description FANUC CORPORATION
 When this option is not ordered, the robot will move just after target position is internally planned by the
robot controller.

58.1 FORMAT OF THE TELEGRAMS SENT BY THE ROBOT

The robot sends the XML data like following.
<Rob Type="FANUC">
<M_X>-2851.123</M_X>
<M_Y>1931.863</M_Y>
<M_Z>1295.158</M_Z>
<M_W>-91.728728</M_W>
<M_P>17.543543</M_P>
<M_R>177.519519</M_R>
<F_X>-2856.183</F_X>
<F_Y>1931.863</F_Y>
<F_Z>1295.158</F_Z>
<F_W>-91.728728</F_W>
<F_P>17.543543</F_P>
<F_R>177.519519</F_R>
<IPOStat>0</IPOStat>
<BMode>3</BMode>
<TRG>0</TRG>
<myRob>0</myRob>
<IPOC>27189883</IPOC>
</Rob>

Wireshark EtherNet log:

0000 00 02 a2 2c d9 7d 90 1b 0e 3f d8 94 08 00 45 00 ...,.)...?....E.
0010 01 42 d7 f7 00 00 ff 11 99 08 c0 a7 64 2d c0 a7 .B..........d-..
0020 64 2e d0 cd 17 78 01 2e 18 36 3c 52 6f 62 20 54 d....x...6<Rob T
0030 79 70 65 3d 22 46 41 4e 55 43 22 3e 3c 4d 5f 58 ype=”FANUC”><M_X
0040 3e 2d 32 38 35 31 2e 31 32 33 3c 2f 4d 5f 58 3e >-2851.123</M_X>
0050 3c 4d 5f 59 3e 31 39 33 31 2e 38 36 33 3c 2f 4d <M_Y>1931.863</M
0060 5f 59 3e 3c 4d 5f 5a 3e 31 32 39 35 2e 31 35 38 _Y><M_Z>1295.158
0070 3c 2f 45 5f 5a 3e 3c 4d 5f 57 3e 25 39 31 2e 37 </M_Z><M_W>-91.7
0080 32 38 37 32 38 3c 2f 4d 5f 57 3e 3c 4d 5f 50 3e 28728</M_W><M_P>
0090 31 37 2e 35 34 33 35 34 33 3c 2f 4d 5f 50 3e 3c 17.543543</M_P><
00a0 4d 5f 52 3e 31 37 37 2e 35 31 39 35 31 39 3c 2f M_R>177.519519</
00b0 4d 5f 52 3e 3c 46 5f 58 3e 2d 32 38 35 36 2e 31 M_R><F_X>-2856.1
00c0 38 33 3c 2f 46 5f 58 3e 3c 46 5f 59 3e 31 39 33 83</F_X><F_Y>193
00d0 31 2e 38 36 33 3c 2f 46 5f 59 3e 3c 46 5f 5a 3e 1.863</F_Y><F_Z>
00f0 31 32 39 35 2e 31 35 38 3c 2f 46 5f 5a 3e 3c 46 1295.158</F_Z><F
0100 5f 57 3e 2d 39 31 2e 37 32 38 37 32 38 3c 2f 46 _W>-91.728728</F
0110 5f 57 3e 3c 46 5f 50 3e 31 37 2e 35 34 33 35 34 _W><F_P>17.54354
0120 33 3c 2f 46 5f 50 3e 3c 46 5f 52 3e 31 37 37 2e 3</F_P><F_R>177.
0130 35 31 39 35 31 39 3c 2f 46 5f 52 3e 3c 49 50 4f 519519</F_R><IPO
0140 53 74 61 74 3e 30 3c 2f 49 50 4f 53 74 61 74 3e Stat>0</IPOStat>
0150 3c 42 4d 6f 64 65 3e 33 3c 2f 42 4d 6f 64 65 3e <BMode>3</BMode>
0160 3c 54 52 47 3e 30 3c 2f 54 52 47 3e 3c 6d 79 52 <TRG>0</TRG><myR
0170 6f 62 3e 30 3c 2f 6d 79 52 6f 62 3e 3c 49 50 4f ob>0</myRob><IPO
0180 43 3e 32 37 31 38 39 38 38 33 3c 2f 49 50 4f 43 C>27189883</IPOC
0190 3e 3c 2f 52 6f 62 3e 0a ></Rob>

Title
About RSI interface function

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Edit Date Design Description FANUC CORPORATION
 Description of each tag
XML Tag Description unit Value
Rob Type Identifier of the robot manufacturer - FANUC

M_* Measured position X,Y,Z: mm -

W, P, R: degree
F_* Forward position X,Y,Z: mm -
W, P, R: degree
IPOStat Status of the path interpolator. 0
Currently always 0.
BMode Describes the status of 3 mode switch of the - 1: T1
robot. 2: T2
3: AUTO
TRG Signal "TRIGGER" for device. - 0/1
Static and as pulse.

myRob Describes what the robot is handling. - 0 : Workpiece

1 : RSI device
IPOC This is incremented at every frame by ms e.g. 16
communication interval time. (3rd frames, when
Possibility to detect any missed frames. communication interval is 8ms.
This value is 0 when 1st frame.)

58.2 SETTING
Set the robot controller IP address and subnet mask etc. in the screen displayed by MENU key -> 6
SETUP -> Host Comm. -> TCP/IP.

Set the following system variables.

To enable the setting change, perform a COLD START or HOT START.

$AVC_GRP[1].$AVC_MODE[1] Default : 1
0: Disable this function (no robot data will be streamed to device)
1: Enable this function

$AVC_GRP[1].$AVC_MODE[2] Default : 0 (Max value is 20)

Delay time
F_* is 3 communication interval faster than M_* when this variable is set to 0.
When you set n to this variable, F_* becomes (n+3) communication interval faster than M_*.

$RSI.$INT_PORT Default:2
1: Using Main board Ethernet port 1 (CD38A)
2: Using Main board Ethernet port 2 (CD38B)

$RSI.$INTERVAL
Communication interval is showed to this variable with ms unit. Value is set at power-on time.
This system variable can’t be changed.

$RSI.$PRIORITY Default:16
Priority of communication task in COMM CPU.
If jitter performance is not enough, change this system variable to lower value.

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About RSI interface function

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 1 is highest priority.
255 is lowest priority. (Not running.)

$RSI.$PORT_NUM Default:31439
Source port number of the robot in UDP communication.

58.2.1 CONFIGURATION OF THE DATA CONNECTION

Create on a PC by any text editor the following configuration XML file and copy it manually to controller
at main root of FR:
Its file name can be selected by the argument of RSI_CREATE, which is KAREL program to set
communication setting explained later.

e.g. abc.xml
<CONFIG>
<IP_NUMBER>136.230.168.112</IP_NUMBER>
<PORT>6008</PORT>
<SENTYPE>IPFO</SENTYPE>
<ONLYSEND>TRUE</ONLYSEND>
</CONFIG>

Remarks:
Start tag and end tag should be exactly same case sensitive.
IP_NUMBER = IP address of the RSI device
PORT = Port number of the RSI device.
SENTYPE = Any name describing external device.
ONLYSEND = Unidirectional (TRUE) or bidirectional (FALSE) data connection. Unidirectional
(TRUE) is only supported. If ONLYSEND is set to other than TRUE, STOP global
alarm “HOST-390 RSI: ONLYSEND in RSI configuration XML should be TRUE” will
happen.

58.3 KAREL PROGRAMS AND BUILTINS

If user ordered “RSI Interface” (J802), KAREL programs and following builtins are prepared to controller.
The name of KAREL programs are without “_I” from builtin name like RSI_CREATE_I ->
RSI_CREATE because same name between KAREL program and builtin name isn’t accepted. The
arguments of KAREL programs are same with builtins. There is no value returned from KAREL
programs. If you want to use following builtin, please include rsi.ev (environment file) by writing
“%ENVIRONMENT RSI” in your KAREL program.

58.3.1 RSI_CREATE_I( )
This function sets communication setting.

Syntax RET = RSI_CREATE_I(File:IN)

Element Description
RET Type: INTEGER
Return values:

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  OK(0): Function executed successfully
If alarm happens, KAREL program will stop with “INTP-103(RSI_CREATE, 22) Program error” and
the detail (cause code) indicates the reason.
File:IN Type: STRING
Path and name of the configuration XML file: Ex .fr:abc.xml

58.3.2 RSI_DELETE_I( )
This function deletes communication setting.

Syntax RET = RSI_DELETE_I( )

Element Description
RET Type: INTEGER
Return values:
 OK(0): Function executed successfully
 If function is not executed successfully the program is stopping by error.

58.3.3 RSI_RESET_I( )
This function do absolutely same thing with RSI_DELETE_I( ).

Syntax RET = RSI_RESET_I( )

Element Description
RET Type: INTEGER
Return values:
 OK(0): Function executed successfully
 If function is not executed successfully the program is stopping by error.

58.3.4 RSI_ON_I ( )
Data are sent every communication interval after this function is done.
The value of IPOC tag is reset to 0 by doing this function.

Syntax RET = RSI_ON_I(<Correction mode:IN>,<Coordinate system:IN>)

Element Description
RET Type: INTEGER
Return values:
 OK(0): Function executed successfully
 If function is not executed successfully the program is stopping by error.
Correction Type: INTEGER
mode:IN Correction mode:
 ABSOLUTE (1) : Absolute correction
Coordinate Type: INTEGER
system: Reference coordinate system
IN  BASE (1) : active UTOOL is used
 UFRAME (2) : active UFRAME and UTOOL is used

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  UTOOL (3) : active UTOOL is used, referenced from the time of activation RSI_ON_I(). See
a following sketch example to show offset behavior.

Current or future position

from the position at
RSI_ON_I( ).

Position at RSI_ON_I( )

58.3.5 RSI_OFF_I ( )
Data are not sent after this function is done.

Syntax RET = RSI_OFF_I( )

Element Description
RET Type: INTEGER
Return values:
 OK(0): Function executed successfully
 If function is not executed successfully the program is stopping by error.

58.3.6 RSI_WRXML_I ( )
This function changes the value of XML tag.

Syntax RET = RSI_WRXML_I(<XML attribute:IN>, <value:IN>)

Element Description
RET Type: INTEGER
Return values:
 OK(0): Function executed successfully
 If function is not executed successfully the program is stopping by error.
XML Type: STRING
attribute:IN This argument indicates which XML tag to write (e.g. ‘TRG’). Case sensitive.
Value:IN Type: STRING
This argument indicates which value to write in the selected XML tag

This supports only “myRob” and “TRG” for XML attribute and value should be 1 character now.
The tag to change (write) is specified by argument 1. For changing multiple tags this program should be
called n times with different 1st argument, which means XML attribute.

If not supporting tag is set to XML attribute (1st argument), STOP global alarm “HOST-391 RSI: 1st
argument in RSI_WRXML_I is not supported” will happen.

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 If value (2nd argument) is larger than 1 character, STOP global alarm “HOST-392 RSI: 2nd argument in
RSI_WRXML_I should be 1 character” will happen.

58.4 DETAILS
- Variables under $RSI are saved to rsi.sv.
- If this function J802 is ordered, $KAREL_ENB becomes 1 as default then karel can be used as
default.
- FR:¥RSI*.xml are saved and loaded for all backup. * can be no character or any number or any
characters.
- Karel programs, which are RSI_CREATE, RSI_DELETE, RSI_RESET, RSI_ON, RSI_OFF, and
RSI_WRXML, are write protected.

Title
About RSI interface function

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