Good morning everyone,
I'm new to this forum and found many interesting articles,
I'm an engineering student and I'm trying to create a 6-axis 3D printer for composite materials thanks to a fanuc robot (LR Mate 200iC) with controller R-30iA Mate.
to adjust the extrusion via the PLC I would like to read the current speed of the robot. the technical service advised me to use the $TCPPSPEED.$vspeed variable, Unfortunately, however, I cannot find it in the list of variables, even if I set PATH PRIORITY in CONTROLLED START.
Does anyone have an idea on how I can find it or can you recommend a variable that reads this speed in real time? Without it I cannot advance the project
especially to deposit the fiber it is important that the speed of the motor and the robot coincide, otherwise it could break or deform, losing its properties.
Thanks in advance,