I have a r30ia controller and I want to disable the ability to jog the robot with the fence open. I can't seem to figure out how to do this.
Disable manual with fence open
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outlaw10801 -
July 2, 2015 at 3:20 AM -
Thread is marked as Resolved.
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I think Fence signal is important only during AUTO mode. In T1/T2 you need deadman switch to jog.
Maybe there is an option:
- map Fence signal to *SFSPD UOP signal
- there should be setting for safe speed in system variables, set it to 0When fence signal is broken, safe speed is activated. And while it is 0, robot will not move ...
I didn't test this
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i went through my system variable sheet and i coudlnt find this safe speed setting. Maybe i am just over looking it somewhere do you happen to know which one it is.
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Try changing $SCR.$SFJOGOVLIM
Also look at
- $SCR.$FENCEOVRD
- $SCR.$SFRUNOVLIM -
This seems like a bad idea if you need to quickly move the robot, such as in an accident.
With that said, if your operators are not savvy enough to disable UOPs, you could just drop the *Immediate Stop, or the *Hold, or the Enable UI signal to prevent the robot from being jogged in teach.
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Yea i didnt even think about that. I know in the plc when the fence is open i can just keep the robots held while the gates are open and if i need to do something i can just disable that when i need to.