Hi, I'm working on a line-tracking pick-and-place project with an LR Mate 200iC and an R-30iA Mate controller. Just for safety purposes, I'd like to be able to set the robot so that it will never allow the tool tip to actually touch the conveyor. I know that you can set axis limits for individual joints, but is there any way to set an entire world coordinate plane as a boundary that the robot will never cross?
World coordinate position limiting?
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SirCumference -
September 19, 2014 at 7:13 PM -
Thread is marked as Resolved.
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i think DCS may work for you
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Hmm, didn't know about DCS. Looks like it only comes as separate software option though. It would be a nice feature, but not nice enough pay whatever ridiculous price Fanuc probably charges for it
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yes DCS would work but space check would too. I am not sure if it is available for the LR Mate.
You could also create a program that takes LPOS and puts it into a position register. Then you could use an if PRj,3 is =<, or => your value in Z for the height of the conveyor you call home or set a user alarm or some other type of action. You would call this program before the move to pick the part. -
If your tracking frame and TCP is accurate, just make sure the Z-component of your positions isn't less than 0.
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yes DCS would work but space check would too. I am not sure if it is available for the LR Mate.Does space check work with line-tracking? I always got an SSPC-004 STOP CTV option not allowed. Or are you refering to another space check function?
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The Space Check is not compatible with tracking.
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There is option called Interfernce check - it's function is very close to DCS but it doesn't have safety certification. Unfotunatelly it's paid function as well. Anyway you can "teach" your EOAT and conveyor and neither robot itself nor EOAT can hit conveyor...
Tomas
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The world position may be easily monitored in BG logic during program execution.
The BG logic may then take decision to stop robot on certain conditions.
However, there are two problems. First is the reaction time, if the robot motion is fast.
The second is that stopping robot from BG logic may be not that simple (not impossible though).