What system variable do I have to change to adjust speed limit for high speed skip.??
In this application we use it for collision check. We have springs with sensors to avoid damage to part and robot. So it's allowed to move furter then the 1.5 mm that is around the overtravel at speed 100mm/s
I've used the fast skip with 100mm/s without any problem or restriction... what error is showing?
Also, you must be aware that going over 100mm/s on a high speed skip is not advised as it can damage the mechanical unit. If you have ennough avaiable overtravel, why use the fast skip then?
On this case i would just use the normal skip, it will go a little further than the high speed but if you have springs and ennough overtravel it should not be a problem. The high speed skip is usually only needed when you need to stop very quickly or you need to measure something and stop quickly when the condition is met.
I've used the fast skip with 100mm/s without any problem or restriction... what error is showing?
Also, you must be aware that going over 100mm/s on a high speed skip is not advised as it can damage the mechanical unit. If you have ennough avaiable overtravel, why use the fast skip then?
On this case i would just use the normal skip, it will go a little further than the high speed but if you have springs and ennough overtravel it should not be a problem. The high speed skip is usually only needed when you need to stop very quickly or you need to measure something and stop quickly when the condition is met.
You wil get the error "MOTN-560 Hspd.skip speed limit (G:1)", when you go above the standard 100 mm/s. High speed skip is nice because of the short stopping distance compared to normal skip. In this application it's used for collision detection. But I have found the system variables.
$PARAM2_GRP[1].$QSKPLIM_END = TRUE
$PARAM2_GRP[1].$QSKPLIM_LIN= "wanted speed"
Restart required.
You could use the Hand Broken input instead. It is an input on the EE connector. Please note, hand broken is a fault condition that will stop the program.
You wil get the error "MOTN-560 Hspd.skip speed limit (G:1)", when you go above the standard 100 mm/s. High speed skip is nice because of the short stopping distance compared to normal skip. In this application it's used for collision detection. But I have found the system variables.
$PARAM2_GRP[1].$QSKPLIM_END = TRUE
$PARAM2_GRP[1].$QSKPLIM_LIN= "wanted speed"
Restart required.
Yeah, I know that it gives an error if you try to exceed the default 100mm/s, I understood that you could not even use the search if you used an speed above 1.5mm/s or 15mm/s.
But I advise you again to not use that function with speeds above 100mm/s, if the condition is met the robot will brake harder than with the normal skip condition (you can even see the robot vibrating when stopping on some cases), and I remember I read on some manual that it is advised not to use this function over 100mm/s as it can damage the mechanical unit (Probably stated on the handlingTool manual, just can't check right now as i do not have the document here)
If this is the case and you use it and your reducer gets damaged and Fanuc finds out, your warranty will be voided.
You are free to do whathever you want of course, but if the only purpose is to monitor a detector and you have plenty of avaiable overtravel since that detection, just use the normal skip condition with a faster speed.
