Hi, I have a Fanuc ARC MATE 120iC with R-30iB which is being used as a training rig for junior engineers.
The robot has a material handler end effector which I am using to try to pick a piece of material which varies in position, but only in X axis relative to world, Y and Z are constant. The end effector has a sensor so when the end effector gets close enough to the material to be able to pick it the sensor comes on.
I would like the robot to basically search from point A until B along world axis X and when the senor comes the robot will stop and carry on with the rest of my programmed path after the pick position.
I have come across similar situations in the field where on other robots I managed to use built in search routines, created interrupts or trap routines. However my knowledge of FANUC is very limited.
So I thought i would try to update a position register with the robots current position when an input state is high (simple enough I thought)
I went down the route of creating a Macro and assigning said macro to a robot input with the idea that when input 1 is high then it would execute the macro which had code inside Position reg 1 = LPOS.
Running the code inside the macro is fine and the position updates as expected however the macro will not execute whilst you are in T1. Now this robot being a training rig i would like junior engineers to test everything in T1 first before anything gets switched into auto. I read on another thread that you can only execute a macro form an input in auto which just seems bizarre to me but hey ho.
i then though id try and create background logic with a command wait robot input 1 =on followed by position register 1 = lpos. testing this in
T1 works fine but when i tried to assign the routine in the background logic and then hit run i get an error invalid item for mixed logic.
So ladies and gents over to your expertise if you would be so kind to point me in the correct direction.