I need some help for my first application on Yaskawa robot (and robot in general)
So, my application involves an approximate reading of a distance between a fixed position and an object of variable diameter (so the distance varies).
Based on this data the robot will approach the object up to about 10 cm; from there he will have to slow down and move quite slowly until he leans against the object. The distance to reach will be given by a very precise distance sensor located on the robot tool.
At that point, the robot will be put into manual mode to perform more precise tests on the other sensors on the tool.
Then, once the test is finished, the external automatic will be put back on and the robot will have to return to the home position.
I really can't understand how can I program the robot in order to get the "move until the distance between your tool and the object is 0".
I was reading the Instruction manual and I found the UNTIL instruction but the reading of the input seems to be quite slow ( MOVL V= 50.0 UNTIL IN#(1)=ON)
Plus, I think I understood that I have to declare my MOVL... but I have no data to parametrize it (I don't know how big is the object , so I don't know the distance beforehand).
Furthermore, how can I stop the motion and exit from the job that manages this positioning?
the robot will communicate with a Siemens PLC S7-1200;
there are no problem about cycle time: the robot will perform some kind of lab tests, so no need to speed up;
Probably, the slow movment will be in Z- in tool coordinates
I hope I explained the situation well eonugh...
Thank you for any advice!