Macro and Concurrent I/O (NX100)

    Im currently learning to program Motoman NX100 and have read the manuals on programming Inform and all that. Want to go up a couple of levels and started to look into macros and Concurrent I/O. But maybe Im stupid but even if I read some about these topics (have downloaded the manuals on the topics and searched this forum) I can't really understand whats the use for the ladderprogramming in Concurrent I/O and the use for macros?! Maybe someone here can explain this? Do you use it? And how and why?

    /Niclas

    First:

    https://www.robot-forum.com/robotforum/yas…-for-beginners/

    Quote from niclasanst

    /Niclas
    I can't really understand whats the use for the ladderprogramming in Concurrent I/O and the use for macros?! Maybe someone here can explain this? Do you use it? And how and why?

    - Macros are a kind of function, for example you can create the macro GRIPPER pass a couple of variable to GRIPPER and choose to open/close your end of arm tool.
    - Ladder Programming( see the link before)

    Good work

    A macro is a INFORM command that executes a series of commands and instructions. MACROS are only available in Management mode.

    The Concurrent I/O processes I/O signals continuously when the robot is turned on. There are 2 sides, the system side that can only be changed by Yaskawa, and the user side that the user can change in Management mode.

    Roboguru gives a really good description of the main I/O signals. May I add:
    - before changing the ladder, do a backup!
    - don't change the ladder unless you know what you are doing. Seriously. You can mess up how your robot works.

    I think I need to rephrase :smiling_face: I understand more or less what macro and Concurrent I/O is. Macro seems to be the same as macros in C-programming. Concurrent you use to work with all signals out and in and internal and whatever in the robot. But when do you use it? When is it necessary to go in and mix with the signals in concurrent? When is it smart to use macros instead of making small jobs that you call when needed?

    The question is really: is macros "just" a extra functionality that you can do without or is it something you really need sometimes and simplify the programming alot. And is Concurrent something you only need if you do some really special with the robot or is it something that you like have use for everyday as a motomanprogrammer.

    Edited once, last by niclasanst (January 20, 2018 at 3:29 PM).

    Hi , I believe in your second paragraph you have answered your own question, Yes ! Not always critical.
    there are times , in certain applications, when other manufacturers sensors etc. Just don’t sync well with the installed motoman software and you need to fine tune the CIO to suit.

    Edited once, last by Pcarbines (January 20, 2018 at 5:43 PM).

    As the NX100 was not capable of complex "IF" statements in the TP programing, CI/O is used to from complex conditions. CI/O also where you build all the cross-connections and interface to a PLC
    Macros allow a user to use the same job for multiple scenarios by simply changing arguments, rather than writing the code over and over. An example is a program that generates points based off the tool frame and variants in size. Use the arguments to identify the tool frame to use (mutli-tool applications), and length, and width parameters (or radius).

    Oh, well

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