FANUC - Movement afer time

  • Hi,


    is it possible to skip a line in the program for example after 10 seconds?

    in the case of a small collision, so that it does not try to get to the final position, but that it skips the given line after a while and can continue?

    the robot has no recovery or collision pack


    any timer in BG logic?

    example how to do it?

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  • HawkME

    Approved the thread.
  • How do you detect "small collision"?

    If with collision guard, the program stops, hence any further code will not execute.

    It would be interesting though to test the collision as the skip condition, to see upon the program resume whether the move instruction was skipped before the stop.

  • How do you detect "small collision"?

    If with collision guard, the program stops, hence any further code will not execute.

    It would be interesting though to test the collision as the skip condition, to see upon the program resume whether the move instruction was skipped before the stop.

    For something like this the Touch Skip option (also known as Collision Skip) is very helpful. One could also use a Skip instruction in combination with monitoring the torque values by using the $MISC[1].$HPD_TRQ[x] system variables. Using these variables requires $MISC_MSTR.$HPD_ENB set to TRUE.

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