1. DIY-Robotics (Help Center)
  2. Community
  3. Troubleshooting — FANUC

Answered Fanuc SKIP Condition Teach Point

Avatar
John68

Hi,

I need a skip condition on my robot because I am scanning the height of a pile of parts with an optical sensor. I teach the point before the scanning and the point at the bottom of the pile and put the skip condition between the two points in the program. Even though I have the skip condition, the robot is making a collision on the pile every time.

Can someone show me the good way to program a SKIP Condition on a Fanuc Robot?

 

Didn't find what you were looking for?

New post

Comments

3 comments

Sort by Date Votes
  • Avatar
    Nicolas Veilleux
    Comment actions Permalink

    Please post your program so we can understand better your problem.

    -1
  • Avatar
    John68
    Comment actions Permalink

    1
  • Avatar
    Raphaël Quirion
    Comment actions Permalink

    Hi John,

    With the skip instruction, the JMP LBL will be executed when you reach to position. If the condition is attain before, it will read the next line.

    Here's a good way to make your SKIP instruction:

    J P[approach]
    Skip Condition DI [30] = ON
    L P[Last pile position] SKIP LBL [1]
    L P[retreat] 
    END

    LBL[1: SkipNotAttain]
    L P[retreat] 
    ETC...
    0

Please sign in to leave a comment.