My robot has some non-standard setting. It disallows changing the override while moving to PR or running a program in T1 with TP. Anyone know the Var for this?
Override change while running with TP
-
Jaycephus -
July 31, 2015 at 1:54 AM -
Thread is marked as Resolved.
-
-
My robot has some non-standard setting. It disallows changing the override while moving to PR or running a program in T1 with TP. Anyone know the Var for this?What controller?
-
This is a R-30iA with Handling Tool v7.70p.
I think that it may be because I have CONSTANT PATH option turned on. There is no documentation I can find that states this (such as in the System Variables list), but I did see that turning on $Group[1].$CNSTNTPTHJT will have affects on the speed override (although it did not say that one of the affects is being unable to change the override while running).
However, looking at the Constant Path documentation in general, it is clear that it is recommended to not change the speed override while running. The way they word it, it suggests that changing the speed override is still possible. But it would make sense that they would disable the possibility and that you would not want to do it, due to producing unsafe results when Constant Path is enabled.
-
Restored this functionality by setting the var $Group[1].$CNSTNT_PATH to FALSE and COLD starting.
I found that this is related to Constant Path being turned on, and wanted to update here. The documentation for Handling Tool r7.70p implies that the speed override can be changed on the fly, but it has warnings to not do this when the program is running. The reason is due to unsafe affects on the motion profile generated by Constant Path if the speed override changes in the middle of moving or after some motion profile generation has been performed.
Thus I believe that this option may actually disable any changes of the speed override while running, but I can't find any documentation that supports this theory. I think I need CP for my project, but it appears that lots of things related to the speed override is affected when you turn it on. One of which is being able to override below 5%, which is stupid, Fanuc. I need to set the speed low to teach positions. So to do this, I'll have to disable CP, cold-start, and the teach positions.
I verified this by turning off $Group[1].$CNSTNT_PATH to FALSE and Cold starting. Override changes below 5% works, and changes to the override during manual moving or while running a program from the TP also works, etc.
However, my Override Select functionality still doesn't work, even though it is enabled.
(Nothing about these effects are in the manual section on CP. Thanks for NOT documenting any of this in the Constant Path section (it doesn't even state how to enable CP, so no surprise), or in the system variable manual, either, Fanuc. )