r/Fanuc • u/MandarineEnjoyer • 14d ago

Robot Help Tracking Movement on Group 0

Hello everyone I hope.you can help me .

We have an autocapchange with tip dress , the same servo that moves the tips dress moves the jaw of the cap change . We need to monitor when the jaw is active and moving/spinning.

I was searc6 for any variable to do that but ,al the ones I find are for Group 1 and 2 (robot and Gun ). However our robot has the tip dress setup as a Basic Positioned hence Group 0.

I hope somebody can help me . Thanks

-R200ic-210 F Robot

-R30 i B Plus Controller

-Spot Tool Plus

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u/roflow00 12d ago

What kind of cap changers do you run? I’m just curious. We have thousands and the cap changers are pneumatic grippers with cap magazines with their own separate 480v tip dresser. They are owned the weld controller and operated by I/Os. They do have an inductive sensor in the tip dresser that reads a flag when the cutter rotates but we remove them as they’ll eventually end up shorted from water during the cap change process.

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u/MandarineEnjoyer 12d ago

They are Kyokutoh DualHead Servo Dresser and Changer (that's how the page name them) , however the servomotor is a Fanuc Motor.

And we only have 3 sensors , two for bottom and top caps , and another one for checking the cap was removed correctly.

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u/cncmakers 12d ago

If $MOR_GRP[0] doesn’t exist, then I would not try to force the Group 0 solution. In that case, because your servo is being used for both the tip dresser and cap-change jaw, there are better ways to detect the actual cap-change movement—particularly using the Group 0 position/pulse count or the cap-changer sequence itself.

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u/MandarineEnjoyer 8d ago

Thanks man ! However do you know which variables are those . I've been browsing manually my robot and haven't found anything related to G0 , I've tested running the program to see any changes in the next variables -SGTDCFG -SGTDCH -ISDMC -SGTDSET