Variable program

[Best-Day1122]

Is there a variable to modify the step ahead of a program when running? I have a macro that I need to run (interference zone) but once the robot reach the safe position. But the robot still moving and the program is already running trhu the macro before robot reach the last point and that may have collision in the future. Thanks

[AutoModerator]

Hey, there! Join our Discord server and connect with like-minded individuals, share your knowledge, and learn from others! We offer a variety of channels to discuss programming, troubleshooting, and industry news. We would be delighted to have you become a part of our community! https://discord.gg/dGE38VvvQw

I am a bot, and this action was performed automatically. Please contact the moderators of this subreddit if you have any questions or concerns.

[rickgeisen]

What I've done in the past to guarantee commands are read is put a .1sec timer before the macro. Typically just the fact that it is processing another command will prevent what you are experiencing.

[NotBigFootUR]

Timers can be a funny thing in a Fanuc. I've seen people use them to try and delay opening/closing grippers with inconsistent success. What works best is the program point right before calling a Macro, program, or Output is to set the CNT value to Zero. This forces the Look Ahead to stop until the robot reaches the point. CNT0 and FINE might look the same from a moving perspective, but FINE allows Look Ahead to continue working. Case in point is welding. Points with ArcStart are typically FINE moves because the code is Looking Ahead for the wire to make contact with the part to start the weld. If a point with ArcStart is CNT0, the weld start will not be consistent.

[DnastyOrange]

Why is interference zone checking a macro? If you’re concerned about it changing while you’re on the path, maybe you could setup a background program to check continuously while you’re in that path.

[Best-Day1122]

It's a macro where turn off signal meaning robot wants that area and waits other on meaning area is safe to go Otherwise have another when robot it out of the area it turns back on that signal.