This is my first post here. I have worked on various motion controllers in the past, but am new with Fanuc equipment.
We have an LR Mate 200iD. It was installed by an integrator, and programmed by a different contractor for a laser welding application. The feedrate of the part under the laser is critical, as this dictates how many laser spots are applied over the surface of the parts.
Here is an excerpt of code that is used during laser welding
335:L P[1] R[5]mm/sec CNT100 RTCP Offset,PR[11] PTH ;
336:L P[2] R[5]mm/sec CNT100 RTCP Offset,PR[12] PTH ;
We have noticed that if the Jog speed set in the pendant is set less than 100%, it does not move at R[5]mm/sec. Some engineers have slowed down the robot for various reasons, and forgotten to put it back to 100% before welding. We need to be sure it is moving at a constant prescribed feedrate over the surface when the laser shutter is open. We would like to enable the engineers to change the jog speed while setting up programs, but need to ensure that at certain points in our code the system is running at 100%. Any information or sections in the manual I may reference would be greatly appreciated.
Is there a way to set the jog speed to 100% in the program before we turn on the laser? Or, is there a variable stored somewhere in the pendant that represents the jog speed (that way I can query it to wait if it is not at 100%)?