Help With Pause Points From

    Hello All,

    I'm wondering if anyone can help direct me on what is the best approach to eliminate a pause point when coming to a perch with a ladle full of molten Aluminum. As of right now, we have a separate Perch program that we call into our Main Program; since we have to many different dies we need to pour. As far as our perch process we have an RO designated to say that the robot is at it's perch, but this seems to cause a bit of a pause and sometimes it's a tad bit abrupt. I've slowed speeds down to help regulate the spillage, but I'm wondering if there is a smoother way of solving this issue without adding more time to our cycles.


    Perch_RH

    9: L P[1] R [5:METAL]mm/sec CNT75


    As far as our perch line that's it, some vary anywhere between CNT75-CNT100.


    This is a partial problem on all 8 of our Pouring Cells.

  • MOM August 2, 2024 at 11:09 PM

    Approved the thread.
    • Best Answer

    Try adding an ACC command to the end of the instruction.

    Without the instruction, the ACC is at 100 by default. Lowering this value essentially just extends the accel and decel ramps equally; i.e. an ACC value of 50 will double both the speed up and slow down times.

    Definitely add the ACC to your position instructions as specified by pdl to help with the spillage. Managing the Accel/Decel at decision points when the ladle is full is smart programming.

    Instruction ROx On/Off/Pulse should not be slowing down the robot. Is this waiting for something or running more code with a JMP or CALL before the next position instruction? Post the code related to that and include which generation of software is being used.

  • AustinC03 August 30, 2024 at 3:51 PM

    Selected a post as the best answer.

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