Go around DCS safe zone

You mean there is a target point inside of the restricted DCS zone? Then the answer is no. The robot won't automatically move around that zone.

You have to program all of the robot motion. Just make a program to go around it.

Don't scan that zone, then you can't get a target in that zone. And you have less scanning time.

I'm not aware of any function that will do that for you. You will have to come up with your own algorithm.

Quote from BigJack325

We are trying to make a functionality that we do a 3D scan of a piece, then put a zone where the robot have to avoid to go to the target if there’s one. If there’s no FANUC functionality to do that then we will have to do an algorithm to send a path to avoid it to the robot which could take more time to develop than if there were a FANUC functionality to avoid that zone while going to a target.

Each change you make to the DCS requires one to apply the changes (input DCS code) and a subsequent power cycle for it to take effect. Also, your program will halt due to the "Need to apply DCS"-alarm.

Depending on your application, you should be able to make a program where the robot moves outside of the "biggest" zone, and then using an offset to adjust how close the robot will move for each pass.

There are bin-picking applications that do something like this, at least for avoiding the sides of a bin. There are also some offline programming environments that, if you model in all the obstructions, will generate paths that avoid obstacles. So it should be possible to model the DCS zones as obstacles in those environments.

But there's no Fanuc option for this in the robot controller. The robot is not "aware" of the DCS zones -- you should think of the DCS as a separate controller entirely, who does just one thing: watches the robot like a hawk, and kills it if it ever crosses certain limits. There's no "conversation" between them about where the robot needs to go and the DCS zones it needs to avoid.

I doubt the robot controller has enough processing power to do that kind of path checking and planning in realtime, anyway. The automatic path generation systems I've seen usually require extremely powerful computers and several seconds, to several minutes, to create an optimized collision-free path.

Quote from BigJack325

Do you have any GitHub example that I could look into that will generate paths to avoid the obstacles?

Thanks!

Hi,
The binpicking stuff SkyeFire mentioned is a software option from FANUC called "Binpicking Autopath Generation" and requires FANUC's IPC (an extra computer that handles the additional computations needed for the path generation).

But, as has been said before, this is part of the binpicking Interference Avoidance and has nothing to do with DCS zones.

Quote from BigJack325

Do you have links of exemples or documentation where I can learn more about this software option?

Thanks

Hi,
I did a quick google search and found a document from FANUC Europe from the EMO 2023 trade show describing the potentials with the IPC (with auto path generation being one of them). Other than that I didn't found much.

I think you're better off reaching out to your local FANUC rep.