I am currently collaborating with a FANUC robot from the R-30iB Mate Plus series for welding tasks and looking into the potential of externally managing the robot's feed rate with USB Analog Output Modules. My goal is to regulate the speed through analog voltage signals while keeping the rest of the program running as usual from the teach pendant. I am examining the feasibility of creating a variable for the speed within the teach pendant program that can be adjusted in real-time using these analog signals. Any help on how to configure the Teach Pendant Settings and make Hardware Connections for this purpose would be highly valuable. I seek guidance on the viability of this approach and any required steps to make it happen.
Are you looking to adjust speed using a potentiometer, set speed with a PLC, or regulate speed in a closed loop system? Keep in mind that target speed is just one aspect of actual speed, taking into account factors like acceleration, deceleration, and blending. Robots may not always reach target speed, often slowing down to stay on track. Depending on your robot's capabilities, there are various methods to achieve this: utilizing Analog Input from Fanuc, using Analog Input on a bus (such as EIP), or employing UOP with Modbus TCP. Implementing a BGLogic background task in the robot will allow you to read and scale data for use. For adjusting program speed, consider using a gain value for flexibility, setting speed before a cycle, or making real-time changes by adjusting the override value. Consider different approaches if needing to adjust speed based on welding device power output. By sending robot speed through an analog output and adjusting welding power accordingly, you can achieve better results. Learn how to control FANUC Robots' speed override effectively with guidance from ONE Robotics Company.
Thank you for your response. My ultimate goal is to create a closed loop system where I can adjust the robot speed in real time based on external parameters. I plan to achieve this by using analog signals generated by devices such as NI-DAQ. Your explanation of speed, acceleration, and blending factor was helpful and will be taken into consideration. I prefer a simple approach over using PLCs. Ideally, I envision a setup where providing 0V analog output from my PC would result in the robot speed being 0 mm/min, while providing 10V analog output would set the robot speed to 100% of the maximum, with values in between being proportionally adjusted. As a newcomer to this field, I may not fully comprehend everything you have mentioned, for which I apologize.
To optimize your robot's speed control, it is recommended to utilize the override feature with a 0-10V signal overriding the speed from 0-100%. The provided link offers guidance on implementing this on the robot side. For the BGlogic, there are abundant resources available online and support from Fanuc can be sought if needed. When transferring data to the robot, first ascertain if your controller features an Analog Input. In such a case, minimal adjustments may be necessary on the robot side, primarily scaling the input values. Verify if the input operates in volts or milliamps. If an Analog Input is unavailable, GI registers can be utilized alternatively. If NI devices support ModbusTCP, values in the range of 0-10000 can be sent and then scaled to 0-100. Contact Fanuc for guidance on configuring the GI registers. In the absence of an Analog Input or ModbusTCP compatibility, options include purchasing an input block from Fanuc or implementing a bus option for additional input capabilities. Alternatively, direct communication with your NI device can be established. Digital inputs can be utilized as a last resort. By incorporating an ADC or utilizing the 7 outputs on your NI device, a 0-127 value can be reconstructed using 7 digital inputs on the controller. However, this method may introduce noise during transitions on the bits.
Thaumaturgia suggested using an override with 0-10V to control the speed of 0-100% on the robot. Resources are available online for setting up BGlogic, and Fanuc can provide assistance as well. If your controller has an Analog Input, simply scale the values as needed. Otherwise, GI registers or ModbusTCP with NI devices can be used. Contact Fanuc for documentation on setting up GI registers. If Analog Input is not an option, Digital Inputs can be used. Check the CRMA 15 connections to identify the DI pins, as shown in the attached image. If unsure, test for continuity from the controller to the pins. Apologies for the low image quality.
I have made the following attempts to control speed variation using a robot: 1. Set up group input GI[30] with 3 bits. 2. Developed a new program where R[50]=GI[30] and integrated it into the robot's BG logic. 3. In my primary welding program, replaced the speed with R[50]. 4. Confirmed that R[50] value changes between 0-7 when switching DIs On and OFF via the teaching pendant. 5. Observing no speed changes when altering DI values in auto mode without welding engaged. I seek guidance on this matter. The mentioned steps allow speed adjustment solely through the Teaching Pendant. However, I aim to manage it via my computer by potentially using a relay module to activate DI pins. Additionally, if I connect DI101 pin to the COM pin in the robot controller, will it activate and register as ON on the teaching pendant?
Your strategy of managing the feed rate externally via USB Analog Output Modules seems feasible. While I don't have the step-by-step details for this specific setup, I do know that FANUC robots are generally flexible for integration with external systems. The key would be to make the FANUC robot's control system "understand" and respond to the analog voltage signals correctly. On the teach pendant, you would need to configure the variables to accept an external input source. Depending on your robot model, you may also need an interface converter from the output module to the robot. Lastly, making sure you have all safety protocols in place is crucial since you're dealing with welding tasks. It's probably best to consult with a FANUC specialist or contact the company's support for specific details and guidance.
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Answer: - To adjust the robot's feed rate in real-time using Analog Output Modules, you can create a variable for the speed within the teach pendant program that can be adjusted through analog voltage signals. This allows you to regulate the speed while the rest of the program runs as usual.
Answer: - To configure Teach Pendant Settings and make Hardware Connections for adjusting the robot's feed rate using Analog Output Modules, you need to examine the feasibility of creating a variable for the speed within the teach pendant program that can be adjusted in real-time using analog signals. Ensure proper hardware connections and programming to enable this functionality.
Answer: - Yes, it is possible to externally manage a FANUC robot's feed rate for welding tasks using USB Analog Output Modules. By creating a variable for the speed within the teach pendant program that can be adjusted in real-time through analog signals, you can regulate the robot's feed rate while the program runs normally.
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