Is there any way to stop FANUC's look-ahead? The thing blasts ahead through my program, changing IO, registers, and frame information long before those things are supposed to change. I'm more familiar with KUKA robots, where any "wait" or IO command will pause the look-ahead until the main program pointer catches up to it. Is there any way to recreate this behavior in FANUC? Thanks!
Stop look-ahead?
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SirCumference -
March 22, 2017 at 10:38 PM -
Thread is marked as Resolved.
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In your motion instructions, use a FINE termination instead of CNT.
For example:23: L P[7] 2000 mm/sec FINE
and
24: J P[8] 100 % FINE
not
25: L P[9] 1500 mm/sec CNT100Use the FINE termination in any of your motion instructions where you need the robot to move to a precise location, and to prevent look-ahead.
Also, use the CALL instruction to call subroutines, not the RUN instruction. Any WAIT for a bit in a parent routine or in any subroutine that is CALLed will stop the look ahead until the WAIT is satisfied. -
Is there any way to stop FANUC's look-ahead? The thing blasts ahead through my program, changing IO, registers, and frame information long before those things are supposed to change.
I doubt there is a way to stop it completely, and this would definitely affect the ability to cut motion corners without stopping.
Take a look at the BREAK option to the motion instruction. It prevents execution of following non-motion instructions until the motion is complete. -
About changing I/O you can use time before, time after and distance before
About registers. I cannot think about updating a register unless it's a that I want to robot to actually slow down
and About frames, it's interesting what you are saying because when I change a tool or user frame "on the fly" the robot hesitate at the point that the command is, meaning it actually went to the point and changed usersUsing FINE point is not a really good idea (depending of you application)
BUT, if you really want to complicate your life, there are variables that have the destination point and other the distance to the destination point. You can play with those on BG logic