Hi guys,
I want to write a safety program for Fanuc S-430iL robot. There is a crane that moves on the top of the robot and the crane is installed at a very less distance from the robot. So to avoid collision of the robot arm to the beam of the crane, what can I do about it.
It might be an easy thing to do but I'm new to this programming thing so please help me.
Much appreciated
Writing a safety program.
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Atinder Singh -
December 15, 2017 at 8:52 PM -
Thread is marked as Resolved.
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If at all possible position the crane over the robot then write your program making sure that there is no collision. That would be A safe way then write protect the program so no one can change it.
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Sometimes the robot is working and the crane is carrying a mold and going from over the top of the robot. So just to make it safe what can be done
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If they are sharing the same area of space, then you can create a digital input into the Robot that says "Crane in space, do not enter".
For example, lets say you have Robot 1 and 2. Both robots are placing big buckets onto the same conveyor, but cannot do this at the same time. Before either robot goes into the conveyor, they will turn on a Digital Output that says "Robot 1 in Conveyor". So before robot 2 goes into the conveyor, it will check to make sure the other Robot is not inside the conveyor by looking for "Robot 1 in conveyor = off".
So if your crane and robot can communicate like this, then this will help you begin your safety program.
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What kind of controller is it ? Do you have DCS option installed ?
You can always set the DCS zone where robot is moving to avoid hitting the crane (if it's possible). But what alive15 said it the most simple option.
Just make a simple handshake, collision zone between Robot and Crane if there is such a option.
If you can simply limit robot movements, you can set axis limit, so it will never go above some height. (that might be difficult, because of axis 2 and 3 colleration)
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Thank you guys for your help. I set the axis limits and it works perfect now.