1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Industrial Robot Support and Discussion Center
  4. Yaskawa Motoman Robot Forum
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

DX200 : move until signal is ON

  • Eurus
  • August 28, 2023 at 12:22 PM
  • Thread is Unresolved
  • Eurus
    Trophies
    1
    Posts
    5
    • August 28, 2023 at 12:22 PM
    • #1

    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

  • kwakisaki August 28, 2023 at 12:42 PM

    Approved the thread.
  • MR21
    Trophies
    2
    Posts
    24
    • August 29, 2023 at 10:03 AM
    • #2

    Which type of sensor are you using on robot tool?

  • Eurus
    Trophies
    1
    Posts
    5
    • August 29, 2023 at 11:18 AM
    • #3

    Hello!

    We are going to use a Keyence LR-TB2000C

  • MR21
    Trophies
    2
    Posts
    24
    • August 29, 2023 at 12:38 PM
    • #4

    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

  • Eurus
    Trophies
    1
    Posts
    5
    • August 29, 2023 at 4:56 PM
    • #5

    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?

  • MR21
    Trophies
    2
    Posts
    24
    • August 29, 2023 at 5:52 PM
    • #6

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

    You can find something in the forum, for example here

    Thread

    Informations about SRCH RIN

    Hello guys,
    I need some help to understand better the line with SRCH command.
    What happens when this line is executed is that the robot search for the signal in Z and Y axis. And I can't figure out where have been set that robot know in which axes its going to search the signal.

    GETS PX001 $PX011
    CNVRT PX001 PX001 BF
    MOVL P001 BP001 V=15.0 SRCH RIN#(1)=ON T=0.20 DIS=25.0
    GETS B000 $B002
    JUMP *OK1 IF B000<>0

    :help: :help: :help:??? ??? ??? ??? ??? ??? ??? ??? ??? ???
    ljuba
    January 21, 2017 at 11:36 PM

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

    Files

    Sensor function instructions.pdf 2.65 MB – 39 Downloads
  • Eurus
    Trophies
    1
    Posts
    5
    • August 31, 2023 at 8:57 AM
    • #7

    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?

  • MR21
    Trophies
    2
    Posts
    24
    • August 31, 2023 at 9:50 AM
    • #8
    Quote from Eurus

    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!

  • Eurus
    Trophies
    1
    Posts
    5
    • November 25, 2023 at 12:11 PM
    • #9

    Hi guys,

    the suggested solution seems to work!

    Thank you all :smiling_face:

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download