I think in this case you really have to write it "per hand" on the tp. I dont know much about old controls, but even the new ones don't have a list with all system variables
quoting from handbook about skip condition:
"Off-: The falling edge of a signal is considered a detection condition. The condition is not fulfilled as long as the signal remains off. It is only fulfilled when the signal changes from the ON status to the OFF status.
On +: The rising edge of a signal is considered a detection condition. The condition is not fulfilled as long as the signal remains on. It is only fulfilled when the signal
changes from OFF status to ON status."
Thank you domo_arigato!
Here where I live FANUC doesnt offer any risk assessment course and to be honest the safety guy said he doesnt have much experience with plants with robots so yeah... f* my life XD
Thank you dha! I guess I will let the stop prediction disabled for now.. and ask some safety expert if this will affect the Risk Assessment
I'm relativetly new to robotics and I already got a case of refectoring and I just can't find the answers I need, so please help!
So there is this Plant with a CNC Machine and a R-2000iC/210L Fanuc Robot for the loading of 80kg pieces. The former programmer did not use DCS from the beginning and the robot's movements are very close to the fence, so I had to implement a few Zones (without stopping the production). The Zones worked fine, but as soon as I activate the "Stop position prediction" I have to lower the velocity so hard the robot looks like a snail and it obviously don't attend the customer's cycle time. So finally the questions which came in my mind:
- Is it absolutely necessary to use this "stop position prediction" everytime I use DCS Zones?
- If I dont use it, will it affect the performance level or safety from the plant?
- What is the usual practice in such cases? Let the 100% velocity and hope the fence hold the robot in a worst case scenario?
I really don't know whats the best procedure here, a complete programm rewriting would take months and I don't think the customer wants to pay for that
Thank you all in advance!
I had the same problem. With Roboguide transformed the cubes in simpler forms and voilà
same question here!