JSON-RPC over HTTP for R-30iB(+) controllers: comet_rpc

[gavanderhoorn]

For those of you watching this repository (or those that happen to come across this announcement in the future): gavanderhoorn/comet_rpc provides a bare-minimum wrapper around the COMET JSON-RPC interface used by FANUC for their newer CRX robots with R-30iB+ controllers.

See the readme in gavanderhoorn/comet_rpc for more information.

Main advantage over custom solutions (implemented using Karel, or using the approach Dominh uses): RPCs return in milliseconds, instead of half a second.

[rastreus]

Thank you for bringing this to my attention. Is this the Fanuc RPC protocol (tpc://:3002) or something different / newer? (onerobotics/go-fanuc#1 (comment))

The project's README mentions:

FANUC's web server on R-30iB and R-30iB+ controllers (ie: V8.x and up)

I know it hasn't been tested, but could this possibly work with a PaintMate 200iA 5L with a R-30iB controller (V8.30)? I'm currently using a solution similar to dominh (KCL and .stm pages).

[gavanderhoorn]

But: seeing as it is on-topic here:

I'm currently using a solution similar to dominh (KCL and .stm pages).

could you say a little about what made Dominh not usable for you? Different language requirement (seeing as you commented on Jay's Go library)?

[rastreus]

Yes, I can post this to gavanderhoorn/comet_rpc: gavanderhoorn/comet_rpc#3 (comment)

Correct. My solution is written in .NET (F#/C#). At the time, Dominh was a good proof-of-concept which affirmed that my solution's direction would work.

[gavanderhoorn]

I'm guessing/assuming your implementation is not available somewhere?

[rastreus]

You are correct. It is a library component in a commercial solution. It is intentionally basic to meet only the required needs. It simply uses KCL and .stm files.

Dominh has more functionality.