I'm relativetly new to robotics and I already got a case of refectoring and I just can't find the answers I need, so please help!
So there is this Plant with a CNC Machine and a R-2000iC/210L Fanuc Robot for the loading of 80kg pieces. The former programmer did not use DCS from the beginning and the robot's movements are very close to the fence, so I had to implement a few Zones (without stopping the production). The Zones worked fine, but as soon as I activate the "Stop position prediction" I have to lower the velocity so hard the robot looks like a snail and it obviously don't attend the customer's cycle time. So finally the questions which came in my mind:
- Is it absolutely necessary to use this "stop position prediction" everytime I use DCS Zones?
- If I dont use it, will it affect the performance level or safety from the plant?
- What is the usual practice in such cases? Let the 100% velocity and hope the fence hold the robot in a worst case scenario?
I really don't know whats the best procedure here, a complete programm rewriting would take months and I don't think the customer wants to pay for that
Thank you all in advance!