Macros for the complete amateur

    So, having done some TP and KAREL coding, I have a general sort of question about Macros. Basically... why? I mean, what do Macros have that regular TP programs don't? Are they just a leftover from a bygone age, or do they still have real advantages that make them worth using?

    To start on answering my own question, I can see that Macros can be called (asynchronously?) from a DI, or triggered to execute as a Manual Function. And a Macro can be CALLed from inside a TP program just like another TP program, or with a 'handle" that isn't limited to the standard naming scheme of TP programs. So I can see where that could be convenient at times. But I'm interested in the experiences of people who spend more time in Fanuc-land than I do. Do you like Macros? If so, why? What keeps you coming back to them? When and why do you use them instead of regular TP?

  • Go to Best Answer

    I am normally using Macros only for small utility programs, e.g. to control my EOATs from TP buttons during commissioning phase.

    In my opinion the main "advantage" of Macros is that they can be also called from inputs, buttons, etc. and not just from CALL or RUN commands like normal TP programs.

    However, instead of using Macros you could also use BG Logic.

    Creating a simple program to actuate an EOAT or turn on/off any robot-IO-controlled device and assigning them to Tool1 and/or Tool1 keys on the pendant can save lots of time.

    Assign to UK[1] and [2] on the macro table

    Quote from SkyeFire

    So, having done some TP and KAREL coding, I have a general sort of question about Macros. Basically... why? I mean, what do Macros have that regular TP programs don't? Are they just a leftover from a bygone age, or do they still have real advantages that make them worth using?

    To start on answering my own question, I can see that Macros can be called (asynchronously?) from a DI, or triggered to execute as a Manual Function. And a Macro can be CALLed from inside a TP program just like another TP program, or with a 'handle" that isn't limited to the standard naming scheme of TP programs. So I can see where that could be convenient at times. But I'm interested in the experiences of people who spend more time in Fanuc-land than I do. Do you like Macros? If so, why? What keeps you coming back to them? When and why do you use them instead of regular TP?

    Hello,

    I use macros for basic EOATs, for example, and also when I've taken over a point and I reset the robot so that it returns to its starting point.

    I've even created a program and used a macro to do what the STAUBLI ALIGN function does.

    I should have included the reason for why I wanted to know about the macro. I have a very large vacuum gripper that I need to put J4-J6 in a safe position before the robot moves any of the other axes. Would a macro be recommended? Although, I am using UF's for all my machines in this cell so I will probably need a program for that because I will need to change UF's for the desired motion, I think.

    • Best Answer

    Tool controls programs from the UK inputs, yes, but the other thing I have used them for is without a PLC for instance if someone pushes an ENTRY request button I dont want to do anything now but I do want to set R[6:entry req] = 1.

    By triggering of a DI it will work without TP on and it only fires off the rising edge of the DI.

    I can then address entry request when I want to (one example large parts in hand, I want the gripper empty).

    LBL[100]

    WAIT DI[machine ready]=on or R[6:entry req]<>0

    If R[6:entry req]=0, JMP LBL[101

    Pause

    R[6entry req]= 0

    JMP LBL[100

    LBL[101]

    Quote from ceilingwalker

    What does one use the Karel coding for?

    Whatever one wants? KAREL provides many higher-level functions that TP code does not, like using TCP/IP socket communications, or advanced math functions.

    Years ago, KAREL was also used for advanced motion programming, but these days FANUC has mostly deprecated that functionality. They've also been adding features to TP over time, narrowing the gap (at least slightly) between KAREL and TP.

    KAREL code can also be rendered "invisible" -- a FANUC controller can export the ASCII versions of TP programs, but not of KAREL programs. Thus, orgs that want to write proprietary code to run on FANUCs without exposing the source code can write and ship compiled KAREL binaries.

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