Hello, I have a Fanuc ArcMate 120iC with an R30iB controller and I was interested in seeing the various methods I could use to stop the robot @ the start of a weld to enable easy reteaching for our Weld Technicians.
As a kind of proof of concept, I created an HMI display with 8 push buttons which correspond with 8 welds on a part. For each push button selection a digital input is sent to the robot, for example, DI-DI.
I would like to see what people thought the best method for stopping the robot might be, right now I am considering $SSR.$SINGLESTEP=1 or PAUSE but I am not sure how to implement on the teach pendant side which will result in the robot stopping @ the arc start of the weld or an approach point right before the weld.
In theory what I would like to do is this,
IF DI[60: Weld Select from HMI]=ON, PAUSE or STEPMODE
J P 40% FINE
PULSE DO60 to reset Weld Selection, or Reset at end of program so it doesn't keep stopping.
As far as I know, there isn't a way to PAUSE or set a System Variable at the end of an IF statement is there?
Open to any ideas or suggestions.
Thank you for your time.