Greetings to my masters, Controls: R-J3 Robot: Arcmate 120 i. I don't want my Robot work rate to start at the source without being 100%. How do I enter a command on the first line of the program in the picture? I'm waiting for your help..
Waiting for Robot Speed
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byrol -
February 14, 2020 at 2:33 PM -
Thread is Unresolved
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You can set up your override in your program using OVERRIDE = 100% or if your robot controller does support WAIT (). Then you can wait when your speed from system variable will be 100.
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Are you asking about the robot override? If so it is under the miscellaneous tab.
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When I have a process that I want to run at constant speed, regardless of the override, I define the speed as a register value and set that value with a call to this code before making the move. This code scales the speed with regards to the current override.
-Phil
Code
Display More1: !Speed setting macro ; 2: !takes in the desired speed and ; 3: !adjusts based on the $GENOVERRID ; 4: ; 5: !AR[1] is the desired speed in mm ; 6: ; 7: !Grab Genoverride ; 8: R[41:Scratch]=$MCR.$GENOVERRIDE ; 9: R[41:Scratch]=R[41:Scratch]/100 ; 10: ; 11: !Grab desired speed ; 12: R[42:Scratch]=AR[1] ; 13: ; 14: R[32:Pick Speed]=R[42:Scratch]/R[41:Scratch] ; 15: IF R[32:Pick Speed]<4000,JMP LBL[100] ; 16: R[32:Pick Speed]=4000 ; 17: ; 18: LBL[100] ; -
On newer robots the command under [instr], misc, is Override =....
If you don't have that you could use [instr], misc, Parameter name, $...=....
The command is then $MCR.$GENOVERRIDE = ....
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WAIT $MCR.$GENOVERRIDE=100
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WAIT $MCR.$GENOVERRIDE=100
this is what I meant.
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I think in this case you really have to write it "per hand" on the tp. I dont know much about old controls, but even the new ones don't have a list with all system variables
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If Argument Registers are not available to use, you could always just use a standard register,
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