QuoteUse the skip condition with the Digital input. That is exactly the kind of situation it is for.
Thank you! I will try this solution.
QuoteUse the skip condition with the Digital input. That is exactly the kind of situation it is for.
Thank you! I will try this solution.
QuoteWhat type of force sensor are you using?
A Force Torque industrial sensor with a frequency conversion equal or more than 1khz.
QuoteHow is it currently connected?
Using EtherCAT Protocol
QuoteWhat type of PLC do you have?
Beckhoff model with a 1ms Cycle time set.
If you want more accurately info (about the model) tomorrow i will check the manuals, now are not with me.
Hi pdl,
QuoteIf latency is an issue, you're going to want to feed the force control signal directly to the robot as an analog input and use the high speed skip instruction to hold your robot.
If i have understand your reply, i have to write the force value directly as an analog input to the robot and use the skip condition inside the Fanuc program.
Unfortunately i can't plug directly the force sensor to the robot due the architecture choice.
The skip command can abort a current moving program with an ONLINE check of a DI right ?
I have reduced the cycle time of the PLC, without using a BL program for the cycle stop but using directly a DI with the skip condition can i have a better performance?
Are the same the brake time of the robot using the cycle stop and the skip condition at equal mm/s speeds ?
Hi HawkMe, sorry for the delay of the answer.
I'm trying to implement a force control of the robot.
In particular i need to limit the force of the end effector while is moving along the Z axis, using a force feedback obtained by a sensor.
Now my approach is to read the force of the sensor while the end effector move forward, when the force is bigger than a value i send the Cycle Stop Signal, and restart the main program using the Prod start signal.
Unfortunately the latency beetween the plc and the Fanuc BL logic program (in high priority mode) is too big with the movement speed that i have set.
i will try to override the speed using:
QuoteThere are multiple ways to control speed. The general override is one option.
Check out this blog post explaining it:
in function of the distance.
There is another way to do the same thing ?
Sorry, maybe i didn't explain well my question.
For speed control i mean to give to the joints (or to the end-effector cartesian space) of the robots a speed or a position reference for a closed loop control.
In example, i want to move the robot along a single/multiple axis/axes (or an angle) until my reference (like a distance sensor, force sensor) have a value that i have choice.
QuoteYes. You shouldn't need the hold. The cycle stop should stop the robot.
Great it's works fine. Thank you.
I use it for a sort of "threshold control" for the force of the end-effector along the Z axis.
Moving forward the end-effector of the robot, when the force is bigger than a threshold i just stop the robot and reset the handshake program.
Maybe i'm wrong, but is not possible to implement a sort of speed control on the Fanuc right ?
Thank you so much!
So i can just Hold -> Cycle_Stop-> No_Hold -> Prod_Start the robot for stop a program and restart the main.
Hello again to everyone!
I have a new question, thanks to all for your help.
On my Fanuc R-30iB Plus i have a main program that is like an "handshake" that allow to select a program by remote using the shared memory correctly configurated.
My need is to stop a program when is running, and resume the main handshake by remote using the UOP.
I have already configurated the UOP with the Flag rack and i have seleceted on system/config:
- Enable UI signal = True
- CSTOPI for ABORT = True
- Abort all program by CSTOPI = True
and on the setup/prog select:
- Program select mode: OTHER , DETAIL: $shell_wrk.$cust_name = MAIN
Now i can from remote start a program, reset fault, hold the robot etc., but i'm not sure what is the way to resume the MAIN program correctly.
In example, during a movement program when i try to set on CYCLE_STOP and then START flag, sometimes the program start from MAIN, sometimes it continue from the last line in the last movement program.
Anyone can help me?
Thank you in advance for all of your advices.
Thank you for all of your answer.
Stare284 and amotov, i will try both of your solution.
To domo_arigato:
QuoteIf it's for safety, your options are limited to safety-rated options such as DCS; if it's operational, then you can use other options (and/or DCS) to fulfill the task.
yes it is, but is for research only.
I will perform a test in a controlled environment so i can avoid to use the DCS, but your analysis is very accurate and
QuoteAfter implementing any solution, I suggest performing a risk assessment on the whole system to make sure you're still safe.
thank you for your advice, i will perform a risk assessment on the whole system.
Hello to everyone and thank you in advance for your help.
I have a Fanuc R-30iB Plus controller and i'm looking for a way to limit online the speed of the robot's movimentation while a program is running in auto.
More specific i have a vision system that check if there is any operator in a defined operating area of the robot and calculated the distance between them, i want to slow down the robot gradually in function of it.
I have found something using the DCS (Dual check safety) like speed check function and the slowdown zones, but i dont know if it is possible control it using an external device or using it for my purpose.