ABBRobotEGM

ABBRobotEGM is a Python library for interfacing with ABB robots using Externally Guided Motion (EGM). This library provides real-time streaming communication with ABB robots at rates up to 250Hz using UDP. It's based on the official ABB EGM documentation and examples, and it's designed to be easy to use and to integrate with other systems.

Prerequisites

• Python 3.x
• ABB RobotWare 7.X (should work with 6.X with few modifications)
• ABB Robot with EGM option (3124-1 Externally Guided Motion)

Installation 🚀

Using pip 🐍

To install the library using pip, run the following command:

pip install ABBRobotEGM

Manual Installation 📦

To use this library in your project, first download the repository and place the ABBRobotEGM folder in your project's directory. You can then import the EGM class from this library to use it in your project.

Simple Examples

The repository includes several examples demonstrating different EGM functionalities. Inside each python example file, you can find the relative RAPID code that should be running on the robot controller.

Guidance Mode

1. Joint

example_joint_guidance.py - Makes the first joint oscillate between -45° and +45°:

2. Cartesian

example_pose_guidance.py - Makes the robot move in a circular pattern

Streaming Mode

1. Joint Streaming

example_joint_stream.py - Streams robot joint positions :

from ABBRobotEGM import EGM

def main() -> None:
    """
    Example showing how to stream the robot's position.
    Be sure the robot is running before running this script.
    """
    with EGM() as egm:
        while True:
            success, state = egm.receive_from_robot()
            if not success:
                print("Failed to receive from robot")
                break
            print(f"{state.clock[1]}, {state.joint_angles[0]}, {state.joint_angles[1]}, {state.joint_angles[2]}, {state.joint_angles[3]}, {state.joint_angles[4]}, {state.joint_angles[5]}")


if __name__ == "__main__":
    main()

2. Cartesian Streaming

example_pos_stream.py - Streams robot cartesian position

from ABBRobotEGM import EGM

def main() -> None:
    """
    Example showing how to stream the robot's position.
    Be sure the robot is running before running this script.
    """
    with EGM() as egm:
        while True:
            success, state = egm.receive_from_robot()
            if not success:
                print("Failed to receive from robot")
                break
            print(f"{state.clock[1]}, {state.cartesian.pos.x}, {state.cartesian.pos.y}, {state.cartesian.pos.z}")


if __name__ == "__main__":
    main()

3. Path Correction

example_path_correction.py - Apply dynamic path corrections during robot movement:

from ABBRobotEGM import EGM
import numpy as np
import time

def main() -> None:
    """
    Example showing how to apply path corrections during robot movement.
    This will apply a sinusoidal correction in the Y direction while the robot
    moves along a straight line in the X direction (using EGMMoveL in RAPID).
    
    The sinusoidal pattern:
    - Amplitude: 5mm
    - Frequency: 0.7 Hz
    """
    with EGM() as egm:
        print("Waiting for initial message from robot...")
        while True:
            success, _ = egm.receive_from_robot(timeout=1.0)
            if success:
                print("Connected to robot!")
                break
            
        # Parameters for sinusoidal correction
        amplitude = 5.0    # mm
        frequency = 0.7      # Hz
        t_start = time.time()
        
        print("Sending Y-axis path corrections...")
        while True:
            success, _ = egm.receive_from_robot(timeout=0.1)
            if not success:
                print("Lost connection to robot")
                break
                
            # Calculate Y correction using sine wave
            t = time.time() - t_start
            y_correction = amplitude * np.sin(2 * np.pi * frequency * t)
            
            # Create correction vector [x, y, z]
            correction = np.array([0.0, y_correction, 0.0])
            
            # Send path correction
            egm.send_to_robot_path_corr(correction, age=1)
            
            # Match robot's sensor refresh rate of 48ms
            time.sleep(0.048)

if __name__ == "__main__":
    main()

RAPID code that should be running on the robot:

MODULE MainModule
    VAR egmident egmID1;
    
    PROC main()
        EGMReset egmID1;
        EGMGetId egmID1;
        EGMSetupUC ROB_1,egmId1,"EGMPathCorr","UCdevice"\PathCorr\APTR;
        EGMActMove EGMid1,MyTool.tframe\SampleRate:=48;
        MoveL StartPos,vmax,fine,MyTool\WObj:=WObj0;
        ! Move in X direction while Python applies Y corrections
        EGMMoveL egmID1,Offs(StartPos,400,0,0),v100,fine,MyTool\WObj:=WObj0;
        MoveL StartPos,vmax,fine,MyTool\WObj:=WObj0;
        EGMStop egmID1,EGM_STOP_HOLD;
    ENDPROC
ENDMODULE

4. Data Exchange

example_table.py - Demonstrates exchanging data arrays with the robot

Complex Scenario

Example of a more complex scenario where the robot is scanning a surface giving in real time its tool center point position and correlating with a sensor reading. Rspag and python code available in "scenario scan" folder.

scan_scenario.mp4

Features 🚀

• Real-time communication at up to 250Hz
• Joint position control
• Cartesian position control
• Position streaming
• Path corrections
• RAPID data exchange
• External axis support
• Force measurement reading
• Comprehensive robot state feedback

Contributing 🤝

Contributions are welcome! Please feel free to submit pull requests.