Fanuc Robot speed variable

Quote from HawkME

To monitor current TCP speed:

Set $SCR_GRP[1].$M_DST_ENB to true

and monitor $SCR_GRP[1].$MCH_SPD

You can search the forum for that variable for more info. I don't believe it updates while jogging, only while running a program.

Use $MCR.$GENOVERRIDE which is the global override shown on the TP.

You can also write to that variable and the robot will accept it. Anything from 1 to 100. I do this in a background program on cells I commission occasionally.

Just put a conditional around it for when the robot is in teach mode. It's annoying to fight the plc when teaching.

I also control the override of my robots in a background task. In auto mode via PLC and in teach mode with TP enabled via TP. I normally also lock die +% and -% keys on the TP when the PLC controls the override.

DS186,

If you don't mind, how do you lock out the +% and -% keys?

I have also looked at the variable $MCR.$GENOVERRIDE and compared to a R[…:speed].

This way I can allow them to speed it up but never go slower than the register (speed is critical to the cycle time).

Or let them slow it down with the +% and -% keys but never go faster than the register (no need for speed, very long cycle times)

And one more use, long cycle time machining, I will move slow through picking and prepping a part for load or placing the finished part. Then have a very high speed for machine unload/load (which determines machine thru-put)

Quote from Doctor_C

DS186,

If you don't mind, how do you lock out the +% and -% keys?

To lock the +% and -% keys, set $GENOV_ENB=0. You can do this in your background task. Don't forget to unlock the keys with $GENOV_ENB=1 when you want to use the keys again.

Thanks!