Author Topic: Matching motion speed to external reference  (Read 1149 times)

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Offline bigmatt

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Re: Matching motion speed to external reference
« Reply #15 on: March 13, 2018, 08:55:30 PM »
So to close this out, I was able to get the robot to react the way I wanted today after a few minutes with Fanuc tech support.  I originally insert a R[]=... command into the program.  This gave me a parameter invalid error.  I had to insert the command as a  ...=$... under the miscellaneous selection. 

The full string was R[2]=$MOR_GRP[1].$CUR_DIS_TRQ[4]

This copied the disturbance torque value to a register.  I set the program up with simple greater than a desired value increased the override speed and less than a desired value lowered the override speed.  This was ran as a background program during a linear move.  The result was when I pushed on the EOAT the robot increased speed away from me and when I quit pushing the EOAT slowed down. 

We are still pursuing different bearings for our linear compensator but UPS misplaced our order so we have to wait for those to come in.  This is still our primary plan but it is good to have a backup.

Thanks for all the help,