Not sure if your real question was answered correctly. I found a system variable in $MCR_GRP[1], labeled $OTF_SPEED, that monitor the "On-The-Fly" speed in mm/sec.
I'm going to write a BG program to write that speed to a register for all of our robots, just so that I know. Could use it to find the average speed your robots are running at as a way to prove to the big guy's up top that you're making a measurable process improvement.
We are working on a project to fence in one of our Fanuc CRX 10iA/L, and run at higher speeds than the current limit. I have always struggled to get support on the CRX robots, locally.
What is the recommended, simplest method for doing this? We are not using an area scanner, simply physically enclosing. Can I just disable the contact stop function in the DCS settings, then adjust the max speed limit in that same screen? Will it affect the auto status check function?
Any help is appreciated as this is a time sensitive project.
thank you
I have.
Both methods yield mixed results and different alarms. That is why I would like to know the recommended method Fanuc has for this function.
No response from Fanuc on this in a week. Haven't been able to find any information on this topic.
I have read manuals that covered the force sensors, or sometimes referred to as "soft touch" programming on traditional yellow robots. However I am unsure of how the technology interacts with the "detune" function that we use on our Cobots. Detune allows the robot to apply some pressure while loading a chuck for example, without throwing contact force alarms and payload errors.
What I'm wondering is if the Force Face Match programming function needs to operate using normal tuning or if it should be operating in a detuned environment.
For example, we use an icon called something like "Touch Skip" to apply linear pressure in a specified direction, to perform this the Cobot needs to be Detuned or it will think it crashed into something external. However for the Force Face Match we are rotating around joints to seat two datums together and I suspect we don't want the Cobot Detuned to do this.
Sorry if this doesn't make sense, or if my terms are inaccurate, I wish information was more readily available on the Fanuc Collaborative side of things.
Currently have conversations going back and forth with F-Support on this feature. I have been able to get it to operate but I don't know if everything i'm doing is correct from a programming side. It's very hard to find any information on Cobot's at this time beyond the basic programming.
I'll let you know what I find out.
I have a Fanuc CRX Collaborative Robot. I am using it to load and unload a CNC lathe spindle. I am trying to achieve better part parallel by using the "Force Face Match" programming function to seat the part into the chuck as close to perfect as possible. I can't seem to find any information on setting up this feature.
I followed the prompts for it, and am able to get the Cobot to load the chuck, but 50% of the time I get contact force alarms. When we use the Force Face Match function, we do NOT want to have the robot "Detuned", correct?
Any help is appreciated. Thanks. 
