Hello Guys.
Busy working with my first Fanuc robot and really enjoying finding a load of useful information on this website.
On the whole I'm really pleased with the flexibility of what I can do with this robot, but I have one issue which I cannot resolve (or even the Fanuc tech support - not that they've given me a huge amount of support on this).
I used to use Panasonic robots, and they had an error recovery feature which allowed you to put a mark in a program, and then in the case of a fault, you could reverse through the program back to this point before resuming.
Our application is spraying GRP, and so we may have issues with glass or resin supply from time to time. We have a material monitoring system and so within about 1 second we can identify we have an issue and stop the robot. However, in this time we have a bald patch on the product. What I'd like to do is just reverse back through the program for a few seconds before restarting the spray gun, this way we can cover the patch we missed.
Fanuc error recovery seems to allow me to do various things, but none seem to be reversing through the program. There is one option which records points as it goes to allow you to reverse, but it would not be able to resume from the correct point in the program - it would effectively have moved down a path identical to reversing through the program, but resuming the program would cause it to jump back to where it stopped, rather than moving back through the correct points.
Does anyone know of any methods I can use to achieve this?