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Answered FANUCs Safety for avoiding collision?

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Laurence Price

Hello guys,

I have to use 2 FANUC robots for an application picking up from common bench and are rotated in X. This will be resulting both robots for picking among 9 positions over then bench, however always having a constant distance among them.

What I want to ask is that how am I going to have a surety that both robot will not be colliding as a result of an error? I will not set a space function as positions are constantly changed. Therefore, can someone tell me whether there is any way that robot is knowing its position automatically?

The robots are supposed to be connected as slaves within a network having PLC as master and Profibus. I am able to link both but the it is within last mile. How could I make a safety system to avoid a collision?

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    Juan Turner
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    Dear laurance,

    I would suggest you to use the PLC for controlling positions. By doing so, you will be able developing a structure for the robotic program in a similar way for picking up. But I am not able to understand what you mean by errors because errors are to be made almost all the time and debugging its the phase for correcting mistakes. Now if you are more afraid of keeping the robots on track then do it through PLC. The PLC programmer will be making your mistakes debug quickly and it is very easy to troubleshoot PLC programming than that of KAREL etc.

    You can use confirmations that the PLC is telling the robot to go on the position 6 and the robot sends back to the respective position and then wait for confirmation. Therefore, you are suggested to write your own code and then confirm the PLC to send the robot to desired position. Check code again and again as you don't have to put the robot blindly and confirm it if robot 1 is going to desired position and then confirm if robot 2 is going to other position.

    Best of luck

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    Laurence Price
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    Hi,

    I have created my program by same logic but it is not removing the conflicts. Moreover, I think this idea will work for other applications but not for this one.

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    Muhammad Ishaq
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    Hello laurance,

    The latest R30iB robots are having an option known as Interactive intelligence check. This is the old space check on the steroids. It will be modeling the robot and prevent it from all sorts of collisions. I am recently done with setting up a pair of LRMATE 200iD robots havig 2 seconds cycling time.

    This is pretty good option and the 2 robots will communicate with each other through ETHERNET port from robot to robot and they both know where the other one is at all times.

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    Laurence Price
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    Well well well, I was exactly looking for the same.

    This problem is in controllers older than RJ3iB and there is possibility of something very similar.

    Thank You

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    Frankie Ellis
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    Hey laurance,

    I think you will be able to increase the space for checking the cubes up to 8 and by following the method i am mentioning below. Moreover, I am surethat this would really be enough for the application you are considering. I would suggest to use all of 8 space checks and changing the space vertex of less critical which is on the run.

    Moreover, you will be able to send it to both robots on X,Y,Z coordinates through PLC by using the BG logic and then monitoring the robots.

    You can increase the number of space check cubes from 3 through changing the variable $NUM_RSPACE 1 [1]  to 3. If you are entering a larger number then you may not be able to reboot the robot and I had tried for about 8 number and got no problem. Wishing you luck

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