Hello friends,
I have a backup of fanuc robot (ARC Mate 100iC, controller R30iA ). IN that, following instructions are used.
1: !------------------------ ;
2: !1ST PASS ;
3: !------------------------ ;
4:J P[1] 5% FINE ;
5:J P[2] 5% CNT100 ;
6: ;
7:L P[3] 100mm/sec FINE ;
8: WAIT .50(sec) ;
9: SENSOR SEARCH START PR[27] ;
10: SENSOR SEARCH POINT[2] ;
11: SENSOR SEARCH END ;
12:L PR[27] 100mm/sec FINE ;
13: Track SENSOR[2] RPM[1] ;
14:L P[26] 100cm/min CNT100 ;
15: Track End ;
.
.
.
59: MP Offset PR[23] RPM[1] ;
60:L PR[27] 25mm/sec FINE ;
61: DO[2:WELD ON]=ON ;
62: //Weave Sine[1] ;
63:L P[26] 25cm/min FINE ;
64: MP Offset End ;
What is the meaning of sensor search start PR[], sensor search point P[], sensor search end, track end and MP Offset PR[23] RPM[1] instructions? I read touch sensing manual but I didn't find these instructions. Is this iRVision application (because I have no idea about iRVision instructions) ?