Background programs/Asynchronous Programs/Parallel Programs

    Hi guys,

    I'm getting a little lost with Yaskawa terminology and wondering if someone can offer some pointers.

    In Kawasaki, they have capability of running asynchronous tasks, such as a logic comprised program just monitoring for cell entry request buttons and then telling the main motion program to finish the current task and return to home for example (no motion commands can be used, just logic and non motion AS commands).

    Does Yaskawa have the ability of executing such task(s) in the background from power up or independently controlled programs that you can execute whether you are in teach or automatic modes?

    I have found terms like PSTART and CONCURRENT and was wondering if these are the areas I need to focus on?

    I usually carry out my own research, but as I say, terminology is sending me down too many rabbit holes and just wondered if anyone has any advice to point me in the right direction?

    Any advice would be gratefully received....... :top:

    Quote from kwakisaki

    ljuba

    Would I be correct in saying this is concurrent IO then?

    Yes, correct.

    On fórum there is a link for a program called Mladder. In that program you can visualize the lader program but in case of editing it has to be text.

    on real robot there is optional ladder editor and there is also a software from yaskawa for computers the ladder editor., but you need the hardkey for it, and it can be on the same dongle where you have motosim.

    Hi,

    You have 3 way to use your needs.

    1. Use Ladder: The ladder is always running (after turn ON it will be run and don't need run robot job). The speed of it more and don't use memory. It can use only when you will check some signals. In this area you couldn't use special instructions same as JOB only check signals.

    2. System Job: That is a Non Group JOB and it is run in background of system. You couldn't use any Motion instructions. That use Memory. It don't need run robot to work only after turn ON controller it start working.

    3. PSTART and PWAIT: This instructions are using when you will run some jobs in different task. You can use this instructions with only one Motion job and several Non Group job. for use this need to use in a job and run robot JOB for working.

    for example you have a Master job, you can write below code in it and run it. both job are running in same time.

    NOP

    PSTART JOB:MOTION SUB1 (MOTION is a Motion job)

    PSTART JOB:CHECKVAR SUB2 (CHECKVAR is a Nongroup JOB)

    PWAIT SUB1

    PWAIT SUB2

    END

    Quote from ljuba

    On fórum there is a link for a program called Mladder. In that program you can visualize the lader program but in case of editing it has to be text.

    on real robot there is optional ladder editor and there is also a software from yaskawa for computers the ladder editor., but you need the hardkey for it, and it can be on the same dongle where you have motosim

    ljuba

    As always, many thanks for the additional information and it appears with Yaskawa they follow Fanuc in terms of requiring to 'purchase' anything and everything as far as options are concerned which is a real shame, but it is what it is.

    Kawasaki do not impose such restrictions so I am now experiencing a different philosophy from other OEMS and each time I appear to be looking at something, as far as real robot is concerned, I have to open my wallet........LMAO.

    But fortunately MotoSim is providing these options so I can at least explore them first.

    TSGIR

    Perfect and thank you for providing the options available for what I asked, that gives me a good choice and also you have answered my next question about executing (not calling) from within a JOB and thank you for the brief example of that.

    Cheers guys, you've been a great help, I'll close this thread now and mark as resolved.

    Have a great day all.......... :beerchug:

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