Hello all
I am working with a Fanuc R2000ib/150U with R30iA Controller, I am trying to get the robot to track a part being bent on a press brake, I have everything hooked up with the encoders and trigger, it works pretty well, problem is I am not sure how to get it to stop tracking, in other words the press moves down, clamps the part, I trigger the robot to start tracking which it does very well, but once the press is at the bottom of the stroke I need to stop tracking, so it doesn't track backwards at high speed as the press moves upward, I'm just not sure how to stop tracking.
I am using circular line tracking to follow the bend, the center of the tracking circle being the tooling of the press.
here is a sketch from the side of what I am trying to do.
any help is appreciated.