We got a fanuc CRX-25iA a few months back. I'm new to fanuc. Up untill now we've been a Motoman shop. I'm trying to use the touch skip function for identifying if the correct part is loaded for the program. For motoman this would be done with a search with a ref. point and rapid input from the weld wire. If the weld wire comes into contact with the part you put that into a bit variable and if it equals a certain value you either skip or continue with the program. How do I do this with a Fanuc??
Fanuc Touch skip function to see if correct part is loaded for correct program
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Robot79 -
August 10, 2023 at 1:59 PM -
Thread is marked as Resolved.
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Nation
August 10, 2023 at 2:24 PM Approved the thread. -
There is a search-function in FANUC-robots (called "SKIP") where you have to specify a "Skip condition" in your TP-program, for instance:
Then you add the SKIP,LBL option to your motion instruction:
Code
Display MoreJ P[9:StartPos Search] 20% FINE L P[10:EndPos Search] 40mm/s FINE Skip,LBL[5] !Program will continue here (next line) if Skip condition is satisfied during !the search-motion .... .... <Some code> ... ... LBL[5] !Program will jump to here if the search-motion is finished without !the Skip condition being satisfied
The robot will go to P[9] and then start the search motion towards the programmed end position (P[10] in my example).
If the condition is satisfied during the search motion, the robot will halt and continue program execution on the next line of code.
If the motion is finished withoud the condition being satisfied, the program will jump to the specified label and continue from there.
Would be good practice to check the Skip condition before starting the search motion.
For the CRX there are also a "Touch Skip" where it will move towards an end position, but if a certain resistance is measured through the internal force sensor during the motion, the robot will stop.
The status of this Touch Skip is saved to a register of your choice.
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Got it. Thanks!!