Hi, I'm a novice Fanuc student. I understand RSR input executes the called program, whereas PNS input "queues" the called program so it can be executed with START input high. Can you give me some examples of RSR & PNS program applications? In other words, how do you decide one or the other?
Rsr vs Pns
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unsaint43 -
December 1, 2016 at 4:38 AM -
Thread is marked as Resolved.
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The big advantage that I see in the PNS is that it enables more programs to be selected than with the RSR. However I am far from an expert.
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RSR is somewhat akin interrupt, as the program is called upon an input event, with no need to confirm.
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a short, nice description HERE
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PNS would be used on something like an automotive line. Run PNS0010 for 2 door with no sunroof, PNS0011 for 2 door with sunroof, PNS0020 for 4 door, PNS0008 for service, etc. You can only run one PNS at a time. If another comes in while the robot is running, it is ignored.
RSR would be used for something like a robot in the center of a bunch of machining centers. RSR runs like a queue system. If a current RSR is running, and another is fired, it is queued to run the moment the first one finishes. If a bunch are fired, they are queued in the order they are received, like a FIFO buffer.
For example, say RSR0001 is tend machine 1, and RSR0002 is tend machine 2. Say machine 1 finishes and fires RSR0001 for a tending operation. While the robot is tending machine 1, machine 2 finishes and issues RSR0002 to be tended. Once the robot finished RSR0001, RSR0002 would be started to tend machine 2.