Motoman DX100 Macro Question

Hi,

if I understand right:

So if you don't have system job, you can still do something with the ladder. In the ladder you can

set the value of a register(example):

STR #50076

MOV 1,M000

Will move 1 to your register when sout#55 will be on and the REGISTER m000 can be used in a job.

Now you don't explain how the macro would work so I don't know if you could still "program" your idea without system job.

totally agree with Motouser .I would add just one more thing. A way to reset the value back to 0

I imagine you are using this for a restarting condition for safety. What I have done in the past is write this in the ladder.

STR #50076 Jog Operation Inform

OR #01220 Universal/General Purpose Input #969

AND-NOT #11220 Universal/General Purpose Input #969

AND-NOT #50117 Cube #32

OUT #01220 Universal/General Purpose Input #969

If someone has jogged the robot and it is not in a safe cube (32), I seal up Input 969. The macro jog can't have an IF condition so I will use JUMP and *LABEL to skip around it. JUMP *LABEL IF IN#(969)=OFF. You don't specify controller generation so there may be other ways such as an IFTHEN, etc.

I quite often also use #50075 in series with #50076. This signal indicates that the job to be executed has just been edited, searched, or manipulated with the cursor ON. This can be used for determining starting conditions after editing.

The job will pulse Output #(969) to break the seal.