Hello all. I am new here and not very well educated on the robot. We have a Fanuc 710iC50 with an R-30iA controller. I was wondering if it is possible for the operator to edit the program at the robot, on the pendant, and slow down the robot for 1 or 2 arm positions then return it back to full speed. We edit in several features now, coolant, spindle on/off, and dwells. Here is a screen shot of part of program. What to for example slow now moves 15 and 16.
1: UFRAME_NUM=1 ;
2: UTOOL_NUM=6 ;
3:J P[1] 50% FINE ;
4:J P[2] 50% FINE ;
5:J P[3] 50% FINE ;
6:J P[4] 50% FINE ;
7:J P[5] 50% FINE ;
8: DO[3]=ON ;
9: DO[5]=ON ;
10: WAIT 5.00(sec) ;
11: R[1]=R[4] ;
12:L P[6] 300mm/sec FINE ;
13: CALL DRILL ;
14:L P[7] 300mm/sec FINE ;
15:J P[8] 50% FINE ;
16:J P[9] 50% FINE ;
17:L P[10] 300mm/sec FINE ;
18: CALL DRILL ;
19:L P[11] 300mm/sec FINE ;
20:J P[12] 50% FINE ;
21:J P[13] 50% FINE ;
22:L P[14] 300mm/sec FINE ;
23: CALL DRILL ;
Thanks, Jon