fanuc-webcontrol API

Send coordinates to the robot

URL

/KAREL/webcontrol?str_mtn_mod=${mtn_mod}&str_coord1=${coord1}&str_coord2=${coord2}&str_coord3=${coord3}&str_coord4=${coord4}&str_coord5=${coord5}&str_coord6=${coord6}
Method:

GET
URL Params

Required:

mtn_mod=[INTEGER]

coord1=[REAL]

coord2=[REAL]

coord3=[REAL]

coord4=[REAL]

coord5=[REAL]

coord6=[REAL]
Data Params

mtn_mod value is valid from 1 to 6:

1: Absolute motion in joint space with joint interpolation

2: Relative motion in joint space with joint interpolation

3: Absolute motion in Chartesian space with linear interpolation

4: Absolute motion in Chartesian space with joint interpolation

5: Relative motion in Chartesian space with linear interpolation

6: Relative motion in Chartesian space with joint interpolation
Success Response:
- Code: 204

URL

/KAREL/webmonitor
Method:

GET
Success Response:
- JSON object:
```
{

  "robotid": [ "id " ], 
  
  "joint": [ J1, J2, J3, J4, J5, J6 ], 

  "pose": [ X, Y, Z, W, P, R ], 

  "limit": [ xMax, yMax, zMax, xMin, yMin, zMin, j1Max, j2Max, j3Max, j4Max, j5Max, j6Max, j1Min, j2Min, j3Min, j4Min, j5Min, j6Min ] , 

  "status": [ 0, 1 ] , 

  "message": [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ],
  
  "timestamp": ["time " ],

  "error": [ 0,"R E S E T " ] 

}
```
  id: [ Get the robot controller ID from $FNO [STRING] ]
  
  J1, J2, J3, J4, J5, J6=[REAL]
  
  X, Y, Z, W, P, R=[REAL]
  
  xMax, yMax, zMax, xMin, yMin, zMin=[REAL]
  
  status: [ a task running (true(1)/false(0)) [INTEGER], webmotion running (true(1)/false(0)) [INTEGER]]
  
  message: [ position reachable or not (true(1)/false(0)) [INTEGER], x limit stop (max(3)/min(6)) [INTEGER], y limit stop (max(3)/min(6)) [INTEGER], z limit stop (max(3)/min(6)) [INTEGER], j1 limit stop (max(3)/min(6)) [INTEGER], j2 limit stop (max(3)/min(6)) [INTEGER], j3 limit stop (max(3)/min(6)) [INTEGER], j4 limit stop (max(3)/min(6)) [INTEGER], j5 limit stop (max(3)/min(6)) [INTEGER], j6 limit stop (max(3)/min(6)) [INTEGER] ]
  
  timestamp: [ The current time from within the KAREL system [STRING] ]
  
  error: [ error code [INTEGER], error string [STRING] ]

URL

/KAREL/weblimit?str_limit_id=${limit_id}&str_limit_vl=${limit_vl}
Method:

GET
URL Params

Required:

limit_id=[INTEGER]

limit_vl=[REAL]
Data Params

limit_id is valid from 1 to 6, 11 to 16 and 21 to 26 :

1: x max,

2: y max,

3: z max,

4: x min,

5: y min,

6: z min,

11: j1 max,

12: j2 max,

13: j3 max,

14: j4 max,

15: j5 max,

16: j6 max,

21: j1 min,

22: j2 min,

23: j3 min,

24: j4 min,

25: j5 min,

26: j6 min,
Success Response:
- Code: 204

URL

/KAREL/karel_program_name
Method:

GET
URL Params

Default KAREL programs:

webabort:
- Abort all task to run on the controller (except the tasks that have the ignore abort request attribute set),
- Set the current positions in PR[40] (joint) and PR[41] (Chartesian),
- Set flags OFF from 1 to 8,
- Set the R[42] (safety motion register) to 999,
- Clear webmonitor KAREL program from the memory
webcheck:
- Check the position is reachable
- Check the position is in the limits
- Check the safety motion register value
webcontrol:
- Set the required position to the proper position register
- Set the proper motion mode flag ON
webkeep
- Reset the safety motion register value
weblimit
- Set the XYZ limits
webmonitor
- Get current coordinates (joint and Chartesian), limit, status, message and error
webprogram
- Get the program list from the controller
webreset
- Reset the robot controller and abort all task on the controller (except the tasks that have the ignore abort request attribute set)
webstart
- Run the specified task
webstop
- Stop the webmotion program
Success Response:
- Code: 204

URL

/KAREL/webstart?str_task=${task}
Method:

GET
URL Params

Required:

task=[STRING]
Data Params

The task is the TP program name. The default TP program:

webmotion
Success Response:
- Code: 204