Stopping Robot @ the start of a weld.

    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[60]-DI[67].


    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[1] 40% FINE
    Arc Start[1]


    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.

    Thanks for the suggestion. That would probably be the simplest solution.


    I could be wrong, but doesnt the robot actually stop for a brief second while it examines the WAIT statement?


    The program I plan to scale it up to has 34 welds per robot


    Not 100% sure on that tho

    Edited once, last by Nddwind ().

    We have a schematic with each weld numbered, and a system we are considering is one in which the tech can select a weld on the HMI and the PLC will then set a specific register equal to that number. Then inside the program, before each weld, will be logic checking the register value, like this.


    If R[1] = 1 Then Pause
    //Do Weld #1


    If R[1] = 2 then Pause
    // Do Weld #2


    etc.


    That way, the tech can tell the robot "stop at weld #7", and the robot will run to weld #7 and then pause for them.

    Just stumbled across this looking for other things, but here the method I came up with to stop the at the start of welds for operator touch up. Made the program below, assigned every weld a flag number, call the program before every weld, and set the argument to the corresponding flag. It won't well at 99% speed so it stops right the weld point.


    1: IF (F[AR[1]]),$MCR.$GENOVERRIDE=(99) ;


    2: F[AR[1]]=(OFF) ;

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