Beginner Question on Speed Settings

  • I have a somewhat hypothetical question and I apologise in advance for any ignorance (I am having to stumble my way through learning how to program Fanuc robots effectively, whilst at work).


    If I wanted to program a Fanuc robotic arm to perform some sort of task that was time based ie. playing a simple tune on a toy piano, what would be the best way to approach the problem?


    I am struggling with the concept of accurate time based movement and without a ton of maths, I'm at a bit of a loss as to how best approach this.


    Any help with this would be appreciated.


    For some background, we have a FANUC Educational Cell that we would like to use to get kids interested in Engineering.


    Thanks in advance.

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  • Blaret and Clue


    Welcome to the robot fourm


    Program each key (pressed) using PRs, use FINE


    Move on top of the key using PR minus a distance , use FINE


    DO PR1, RE PR2, MI PR3, FA PR4


    Let's do DO RE MI FA


    Go to start position
    L PR1 - distance FINE Approaching DO
    L PR1 FINE
    WAIT R11 This is the anwser to your question R11 is the value of the timer. You can adjust these timer after your music is done
    L PR1 - distance FINE Departure DO
    L PR2 - distance FINE Apporaching RE
    L PR2 FINE
    WAIT R12
    L PR2 - distance FINE Departure RE
    L PR3 - distance FINE
    L PR3 FINE
    WAIT R13
    L PR3 - distance FINE
    L PR4 - distance FINE
    L PR4 FINE
    WAIT R11
    L PR4 - distance FINE
    Go to start position

    Retired but still helping

  • Thanks, Fabian.


    Further to this, if I wanted to play notes out of sequence, in the form of a melody (ie. the distances between the keys would differ for each transition) but still to a regular tempo, is this manageable?


    I'm conscious that if I instruct the robot to wait for the desired time but the transition to the next key is much further away than the transition between the previous two keys then the notes will not be played to a consistent tempo.


    I've noticed that I can set a motion speed in terms of time (seconds or milliseconds), would this force the robot to arrive at positions at the end of a set time period, regardless of the distance in between them (within reason)?

  • Hi


    1) the main reason to put values on R variables is that you can update them while the robot is running to get to the right tempo.


    2) Processing time between lines is 4 msec


    3) You have to consider that there is acceleration and deceleration so even that you write 150 mm/sec is not going to take 150 mm to do one sec. Based on this principle it will be very hard (near impossible) to write speeds. You would have to have a database to find where from and where to and the speed.


    4) If you watch videos on the net you will see robots plating basketball, dancing , etc , etc. Well those are very simple point program that took forever to the programmer to find the timing


    5)You can reach your destination using FINE or a CNT value. You have to be consistence. FINE will delay the robot at arrival because you are asking it to go to the perfect points. Maybe you could use CNT0 or CNT1 BUT always use the same


    6) same for approach and departure

    Retired but still helping

  • KUKA plays music..... You can judge what is real .....


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    Oh, well

  • Ha thanks Fabian for the explanation, much appreciated.


    I shall see what I can and can't do. If it comes down to huge amounts of trial and error, so be it!


    I guess if it all falls apart, they're kids, what do they know :icon_wink:

  • Another thing you could test is the "speed" portion of the motion statement. Highlight the speed, and press F4 CHOICE, you will have choices of sec or msec.


    If you have multiple motions you would have to split your time between them.
    Hope this helps, and have fun. it's the best way to learn.

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