I am on a problem on which my robot handles raw carbon disks, the internal diameters are not at all precise and we take them with pliers managed by basic positionners Fanuc, Fanuc offered me the option J611 Servotool which allows to regulate the opening torque, however, I can not configure it properly.
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Following the documentation provided, I set the variables $SV.DETECT.$DET.LIMIT.UPLIM et LOWLIM to the values of torque limit at 14 and -14 (Axis Disturb basic positonners)
- $SV.DETECT.$TOL : 5% (value by default)
- $DET_ALGO : 0 (value by default)
- $Learn 1.
- T$Trigger and $Detected = 0
menu Setup Servotool :
- Groupe Number 2 (and 3 for the other basic)
- Axis Number : 1 (same thing for the 3)
- Torque Limit 100% (value by default)
- Contact Sensitivity 20
- Contact Tolerance 2
- Contact Reg Number 0
- Auto Position Update : YES
Settings after contact:
- Offset: 0
Torque limit : 0
and here is how I proceeded in my programming.
!Open Gripper A Right
SERVOTOOL [1]
PR[GP1,2:95,1:Open_Gripper_A] = R[70:Open_GripA_Final]
J PR[75:Open_Gripper_A] 100% FINE
!Check Part in the gripper
WAIT DI[31:PRESENCE PART GRIP RIGHT] = ON
During my first tests I inserted the SERVOTOOL_END instruction just before the WAIT DI but after I moved it after closing the clamp in another program because the OVC alarm appears when the robot is moving with the part of a station to another (axis 1 linear), and not necessarily when the robot opens the clamp, below my clamp closure program
!Close Gripper A Right
J [PR99:Closed_Gripper_A] 100% CNT0
!Check Position
WAIT DO[46:Gripper R Closed] = ON
SERVOTOOL_END
With the instruction SERVOTOOL_END placed as above, the robot did not carry out the closing instruction (PR99) but directly jumped on the WAIT DO 46 automatically and I also tried in T1, This way the option worked as it should?
But wouldn’t it be better to move the SERVOTOOL_END instruction before closing the clamp because when closing the current disturb varies enormously and exceeds the limits. Did I set the variables correctly? And how will the robot react when the limits are reached without triggering the OVC alarm?
Thanks you in advance
Cordially