Use Fanuc's dynamic path modification software option. It's not free, but it will do EXACTLY what you are describing to want to do.
I tried once AVC (also not free), helps with smaller speeds, when your cutting process is fast, the function will be too slow to follow, and sometimes robot's reaction is too late 
I tried once AVC (also not free), helps with smaller speeds, when your cutting process is fast, the function will be too slow to follow, and sometimes robot's reaction is too late
What was your cutting/welding speed? I'm running at about 40-80mm/s.
Use Fanuc's dynamic path modification software option. It's not free, but it will do EXACTLY what you are describing to want to do.
DPM seems really cool, have you used it in the past? What's your experience with it? Out of Analog/Group/Digital, which type would you recommend? I can use any, since I have a PLC which can also accept analog signals and make them grouped, or use an algorithm to give digital.
Any comparisons with AVC?
What was your cutting/welding speed? I'm running at about 40-80mm/s.
It was plasma cutting, my travel speed was around 40-60cm/min, which is around 10mm/s. In my opinion 40-80mm/s will be too fast for AVC. But I was making it with R-30iA, so maybe since now the function is also improved? I have no idea about it.
It was plasma cutting, my travel speed was around 40-60cm/min, which is around 10mm/s. In my opinion 40-80mm/s will be too fast for AVC. But I was making it with R-30iA, so maybe since now the function is also improved? I have no idea about it.
Hmmm.
I was able to get in touch with the Fanuc Robotics metal parting team, and they indicated that the newer DPM option with Modal path algorithm should be able to handle our speeds without an issue.
I'm about to purchase the option, will post results as they come!
Waiting for info, it always good to know for future
Or.... easy way, read the new offset and use the TCP offset in motion execution.
May you have to use a parallel task in order to adjust the offset runtime fom a GI for example and then put the result of relative transformation in to a PR.
Then you only have to use the PR register in to a "Tool Offset" condition in the same form of movement
EX
OFFSET CONDITION PR[ i ] (UFRAME[ j ])
1: OFFSET CONDITION PR[ R[1] ]
2: J P[1] 100% FINE
3: L P[2] 500mm/sec FINE Offset
It works.
Ciao
M
Display MoreOr.... easy way, read the new offset and use the TCP offset in motion execution.
May you have to use a parallel task in order to adjust the offset runtime fom a GI for example and then put the result of relative transformation in to a PR.
Then you only have to use the PR register in to a "Tool Offset" condition in the same form of movement
EX
OFFSET CONDITION PR[ i ] (UFRAME[ j ])
1: OFFSET CONDITION PR[ R[1] ]
2: J P[1] 100% FINE
3: L P[2] 500mm/sec FINE Offset
It works.
Ciao
M
You cannot run two parallel task with that both have access to the same motion group.
You cannot edit position registers without access to the motion group.
Yes, offsets work, but as far as I know, you cannot simultaneously use and edit them.
Do you have some other way of doing this?
It works, if you continuously perform a PR correction through karel it will be processed in runtime when the advanced pointer reads the "tool offset" attached to the move instruction.
It is not necessary to add any privileges [or defined motion group/groupmask] to the second task, through karel it is overcome.
May you only have to define the group for the pr, if you really need it
It woks very well in my case.
Regards
"TCPOffs: XYZWPREXT in group[1]
TCPOffs = nullPos
TCPOffs.x = OffsX
TCPOffs.y = Offsy
TCPOffs.z = Offsz
TCPOffs.w = Offsw
TCPOffs.p = Offsp
TCPOffs.r = Offsr
TCPOffs.ext1 = OffsE1
-- and then set it into a pr
SET_POS_REG(RegNumber,TCPOffs,status)"Set your all positions in Posistion Register (PR) - you can use hardcoded points if they are good. Why all? It's good for future little changes like moving your operational constructions or robot.
Then use your feedback as offsets as well in PR
if you are not familiar with it you should set it like this FOR EXAMPLE (in this case I guess Z is variable for you, all - within Z - can be 0 at the starting point)
X 0.000 W 0.000
Y 0.000 P 0.000
Z 30.000 R 0.000
The way i see it every coordinate should be "delivered" seperately like DI1 (X) DI2 (Y) and so on
Then in non-motion program you set offset with inputs like
PR[i,j] = [PR number, coord number]
PR[1,1] for X = DI1
PR[1,3] for Z = DI3
PR[1,4] for W = DI4
and so on
I think you should store it all in one PR and then use as offset in your movement
$$$ coming in
