hallo
we like to limit the speed of a fanuc robot with a safety scanner. we have the option dcs. is there an other possibility than reduce the override and monitoring the speed with dcs after a time?
thank you for your response
chris
safe reduce speed with a scanner
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littlewood -
March 27, 2018 at 8:20 AM -
Thread is marked as Resolved.
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As far as I know, this solution is OK and Fanuc guys from our local branch use it as well. But keep in mind that you should totally stop robot when someone is near and I don't think you can do it by override.
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You could have a background program monitoring your inputs. When your radar inputs go up, you change a register's value. You use said register as a speed value for your motions, though that means you'll have a LOT of registers to work with if you use various speeds. This means your cell safety is...well...not that safe really.
I wouldn't do this and I don't think any client would allow me to use something like this on a robot that's not collaborative, but if it's something you'd like to try, this would be the cheapest alternative to getting the DCS option. I think.
Though I would suggest you just use the scanner to stop the robot with a controlled stop. I can't imagine why you'd like to have a robot moving in AUTO while someone is in the area.
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This is totally allowable with a non collaborative arm, as long as the arm is fully stopped by the time a operator could be within the working space of the arm.
This is typically done with two zones on a set of scanners, a warning zone that slows the robot to something like 10%, and a stop zone, which is coupled to a DCS estop.
The slowdown usually handled via a background task that writes directly to $MCR.$GENOVERRIDE when the warning bit from the scanner comes on (or is dropped, if you want it to fail safe).