May 26, 2019, 10:19:00 AM
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 Fanuc CNT wont work

normal_post Author Topic:  Fanuc CNT wont work  (Read 278 times)

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May 15, 2019, 11:18:49 AM
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Ninok


Hey there

I'm using a fanuc lr mate 200ID.

Im trying to make a square with round edges. For some reason it is not rounding the edges its doing "FINE" no matter what.

L P[1] 100m/sec CNT60
L P[2] 100m/sec CNT60
L P[3] 100m/sec CNT60
L P[4] 100m/sec CNT60
L P[1] 100m/sec CNT60

The points are separated by several milimeters.

I'm wondering if there is any system variable that is preventing the controller to "look ahead" like the $Advance variable on kuka

Thank you

Today at 10:19:00 AM
Reply #1

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May 15, 2019, 11:58:33 AM
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stare284


Are you seeing this while running in Auto?

May 15, 2019, 12:02:18 PM
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keyboard7


What process are you trying to preform?  Sometimes you can add a point in the center between the corners of the square.
You may need to play with the location of this point in or out to get the results you are looking for. Use CNT 100.

May 15, 2019, 12:17:30 PM
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Robo_Eng_13


Two things that stand out to me.

1. You said the points were several millimeters apart? I am not sure how CNT interfaces with acceleration and deceleration. The CNT is supposed to round the corner just enough to maintain speed, but i do not know if it will continue to accelerate through the radius. If not, then it might be that your moves are just too small to achieve a speed that REQUIRES rounding corners to maintain.

2. Your speeds are 100 m/s, is this a typo of 100 mm/s, or are you trying to move at a third the speed of sound? I am not sure what Fanuc's behavior is if you give it an achievable speed, if it will fault or ignore it and use some default.

May 15, 2019, 12:50:40 PM
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Ninok


yes, i meant mm/s :)

I've tried this same exercise with other robots and always worked.

Im trying on T1

May 15, 2019, 02:07:40 PM
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HawkME

Global Moderator
Just covering the bases. You don't have it in Step mode do you?

May 15, 2019, 05:50:59 PM
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Shellmer


Are you using P or PR to store the positions?

If you are using P, then you may need to increase the cnt values. You can also use CR instead of CNT to round corners if you have the option (CR -> Corner region). CR is similar to abb zones. It only works on Linear moves.

If you are using PR then try changing to P, PR moves don't look ahead as far as i know and makes fine points.
« Last Edit: May 15, 2019, 05:54:52 PM by Shellmer »

Today at 10:19:00 AM
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May 15, 2019, 08:07:15 PM
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Lemster68

Global Moderator
 100m/sec CNT60
L P[2] 100m/sec CNT60
L P[3] 100m/sec CNT60
L P[4] 100m/sec CNT60
L P[1] 100m/sec CNT60

The points are separated by several milimeters.

I'm wondering if there is any system variable that is preventing the controller to "look ahead" like the $Advance variable on kuka

Thank you

OK, first question:  Is this robot connected to a PLC which is controlling it?  If so, could it be sending a stop signal every time you try to run, causing it to stop?
Second, not really a question:  Let's try to prove or disprove that your points are too close together by increasing the distance between them.

Let us know what you find out, hope this helps.

May 15, 2019, 10:02:28 PM
Reply #8
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Ninok


Thank you all for your replys.

The robot is not working with a PLC and it is not on step mode.

Im using P[] points. I've tried using CNT100, CNT50, CNT60 and some others having the same "fine" results.
Also tried CD10, CD20, CD30 and some others, same results.

The points are separated by 120 mm.

All the tests are made on T1 mode.

I've tried this same program on other fanuc robots before, never had this problem.

May 15, 2019, 10:05:13 PM
Reply #9
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HawkME

Global Moderator
Try it in auto mode. If the robot doesn't have the constant path or motion package options then it will make a difference.


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