Hi everybody, I currently got a FANUC LR MATE 200iC with a R30iA controller (Educational package that comes with a cart).
Is there a way to speed up the robot? (In the pendant its set as 100% speed) but it moves quite slow for 100%. Is there a variable that I have to change in order to increase the overall speed?
FANUC LR MATE 200iC R30iA Speed
- SXJ1988
- Thread is marked as Resolved.
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lr mates are super fast. set payload. post .tp or .ls program files.
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If it's the fanuc ed cart they have limited the speed in variables.
If you actually ran that robot at it's real capacity it would rock that little cart all over. -
Yes, most of variables are protected when I tried to changed the variable $SFRUNOVLIM, a message pop outs displaying "Variable/Field write protected". Right now the robot is no longer in the cart and it was transferred into a bigger work cell in order to speed up a process we got going in our school project. I was just wondering if there is a way to bypass that?
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I don't know about the edu model and total speed but you were in the wrong place anyway.
check $pram_group
the group [1]
then $ process_speed and $proc_spdlimtry about 2000 in each of those. then go up from there.
then you will need to check your .tp programs and up those L moves.
Make sure She's mounted down good.
If the edu model will not let you change it, try under a controlled start.
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As others stated, speed is limited on all Cert carts, M1 or Lr Mates, and the DCS also has additional limits applied. Early carts did not have such restrictions but after many issues in the schools the limits were added into the default configuration. All can be changed but, these carts are set up for EDU use with students thus, typically instructors are not trying to maximize movement speed, rather teach solid programming and logic in movements. Show and tell programs like the pill cell, or battery demo do have a lot more WOW effect when running at the higher speed though.
Rich
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Okay,how do you performe the controlled restart?
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Hold down the PREV and NEXT buttons on the pendant then turn on the power to the robot. Continue holding the buttons down until the robot boots up and displays the Configuration Menu. Select the option for Controlled Start.
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Oh okay, thank you. I'll try with the controlled start and see if I can change the variables.
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I was able to "control start" and changed some variables for testing purposes but now I can't get rid of the control start when turning on the controller.. how can i restart the controller and start from where I left it ?
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Try hitting the FCTN button then selecting the Cold Start option to restart the robot. This is how I restart the robot instead of cycling the power manually after doing a Controlled Start.
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Dave, thanks.
I did change the variables most of the variables but I do not see a significant difference in speed. The controlled start has let me change those values. I was wondering if you could if you could provide the variables that needs to be changed in order to speed it up? I have changed most of them under $SCR, $SCR_1, $MCR and $PARAM_GROUPS. -
Update: I was able to identify the problem, the problem was not only the variables but it was the Fence connections (EAS11,1,21,2). I performed a controlled start, changed the variables, jumped wires from EAS1 to 11 and EAS2 to 21 (Located on TBOP7) and that the trick.
However, I just have one last question, is there a way to run in auto mode without holding the deadman switch and the shift button while executing the program?This is the steps I do when I run the program in "auto":
-Load program in the pendant
-Turn T1 to OFF in the pendant
-Hold Shift + Deadman switch
-Turn the key to Auto in the R30iA controller
-Press cycle start
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