FANUC Robot RS232 communication

First off, this robot project started here, make sure you get caught up first!

This thread chronicles the process that it took to communicate with my FANUC robot arm. It was missing all the expensive options that allow for PC control via serial or TCP/IP. I could not find much online aside from ‘read the manuals and talk to fanuc’ both options cost money, and as I found not that helpful. I went through over 11 manuals, and even they where not 100% correct. They also lacked any example strings!
NOTE: If you write manuals always include a string of data that can be used to test coms!

Here is a walkthrough of all the work that went into the process.

First step was to figure out how to wire the serial port, the former owner had wired in a crude setup, and I had to figure out if it was done correctly, so I have attached the photos of the process above, and the pinout between the PC DB9 and the FANUC 20 pin special connector that worked for me.

The Com port used some not so normal port settings, here is what I found it needed to use!

Here is the first program I wrote in Processing, to auto generate the proper hex strings and be able to send them out via the serial port, calculating the BCC Checksum with XOR was new to me an a fun challenge.

Now to see if I can have this work on the robot.

Awesome! I can write data! Can I get the robot to follow?

Now that I have proof of concept, time to add more features, lets try and add a second dimension, the Y axis!

Here is what the robot program looks like now

Now to see if I can get the X and Y to have separate slider controls.

Now that I have X,Y control, lets make one of those a Z height and add a Lidar sensor and make things fun!

I now have full remote PC control of the robot! This opens up many new projects so stop back often for updates! If you have any fun ideas, be sure to comment them below!