We have Fanuc arc mate 120ic/10L with R30iA controller and Kemppi 450 Arc.communication protocol ethernet 1p.
We are doing a project in which robot is sensing the area of V groove and he has to change the welding parameter accordingly.
We are not using conventional fanuc software of adaptive as it is not working on our kind of project.
I have tried with a karel program and able to change the value of $AWESCH[1,1].$CMD_VOLTS and $AWESCH[1,1].$CMD_WFS,but when we are doing actual welding then parameters are not changing on the machine and result is poor weld quality.
can any one guid me that which are the system variable in Fanuc which are responsible of transfering the voltage and wire feed value to welder.