I have an analog output card installed in a FANUC RJ-2 system using DispenseTool v4.21. I was wondering how I would output the current speed of the robot via the analog output card.
FANUC R-J2 Robot Speed Analog Output
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cpacjarm -
May 21, 2019 at 9:15 PM -
Thread is marked as Resolved.
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Since the program is usually done in the "world" motion mode, I think it is difficult to send the individual speeds of the motors as an analog signal. For this, I think it would be more appropriate to use the " TCP " feature (that is, a center point introduced for the tool used).
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I'm not sure what DispenseTool was like in v4.21, but on the newer robots DispenseTool automatically comes with a speed output option.
There is an IO menu called Dispenser where you can define an AO as your flow command output. The flow command output is automatically scaled to the TCP speed when you set up the Sealant Schedule to TCPP. (You may have to do additional scaling to match a 0-10V scale) Hopefully this is available on your robot.
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Since the program is usually done in the "world" motion mode, I think it is difficult to send the individual speeds of the motors as an analog signal. For this, I think it would be more appropriate to use the " TCP " feature (that is, a center point introduced for the tool used).I do not believe that DispenseTool v4.21 / 4.4 has the menus in the attached files.