DX200 : move until signal is ON

  • Hi everybody!


    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?


    ADDITIONAL INFO:

    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! :smiling_face:


    Eurus

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  • kwakisaki

    Approved the thread.
  • Hello Eurus,


    Using the laser you know the distance between the fixed position and the object.

    This value is how much you should move to reach your object with the laser.

    In this way you don't use MOVL UNTIL..but only MOVL.


    Other way you can use a system job that reads the distance continuosly.

    You use a DO to know when the distance is 0, and in the LADDER you can map the output with the input.


    SYSTEM JOB

    IF (LASER_VALUE = 0) THEN

    DOUT OT #(33) ON

    ENDIF


    JOB

    MOVL P000 UNTIL IN#(33) = ON


    LADDER

    STR# 30070

    OUT# 20070


    ATTENTION:

    If you have defined your tool as the center of the spot of the laser, when the laser value is = 0 the laser (tool) is in contact with your object

  • Hello and thanks for your reply!


    The second option is exactly what our client requested from us


    I'm concerned about the communication speed, though. The sensor signal is read by the PLC, which evaluates if the distance is equal to 0 and signals it to the robot: isn't it a slow procedure to communicate the stop of the movement?

  • To be faster I think you can use the SEARCH function with DIRECT INPUT.

    You can find something in the forum, for example here



    I have never used it and I don't know if the search input board is standard with your robot

  • Hello!


    Unfortunately we don't have the search input board, that would be perfect!


    From what I understand, the search function is used to search for a point with certain coordinates and the movement stops when the point is found or when a direct RIN input is on/off (based on how it has been set), correct?

  • Hello!


    Unfortunately we don't have the search input board, that would be perfect!


    From what I understand, the search function is used to search for a point with certain coordinates and the movement stops when the point is found or when a direct RIN input is on/off (based on how it has been set), correct?

    Right!

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