Question about accuracy cancellation between CALLS

    Hi Guys

    I'm experiencing some accuracy/smoothing issues in motion.

    My example is I have a main JOB simply calling one JOB, then another JOB.

    If my last instruction in JOB is a motion instruction and I set it at PL8, it appears to be cancelled out by the call to the next JOB.

    Is this correct and is there something I can do to ensure the PL value is executed?

    Any pointers would be gratefully received.

  • kwakisaki October 20, 2023 at 10:58 PM

    Changed the title of the thread from “Question about accuracy type between CALL JOBS” to “Question about accuracy cancellation between CALLS”.

    Hi kwakisaki,

    I imagine that your job is doing is that way:

    NOP

    MOVL Pxxx PL=8

    CALL JOB:ZZZ

    END

    As far as I know the PL is relative ONLY to the motion that you write in the job, even if you have a second movl in the main and you don't specify a PL it will result that the second MOVL doesn't have a PL.

    You have to specify a PL for each single motion instruction MOVL/MOVJ ...etc

    Thank you for your reply.

    In fact I just have a main Job consisting of:

    - CALL JOBX

    - CALL JOBY

    With 2 motion instructions in each with PL8 set per motion instruction.

    When executing the last motion instruction in JOBX with PL8, the motion instruction appears to be executed as though I have set PL0 instead.

    It appears that any PL value set is relative to that JOB only (this is what you are saying) and this is what I have confirmed too.

    I can only assume this is due to the NOP that Yaskawa insists on including at the top of any JOB.

    Would be nice to do something about this NOP, but I think this is permanent, is that correct?

    Quote from kwakisaki

    Would be nice to do something about this NOP, but I think this is permanent, is that correct?

    Yes both NOP and END are mandatory.

    Quote

    It appears that any PL value set is relative to that JOB only (this is what you are saying)

    Not relative to the job, it's worse, it's relative to the single motion instruction:

    NOP

    MOVL Pxx0 PL=8

    MOVL Pxx1

    END

    In the example above, in the same JOB, the PL=8 is applied only to Pxx0. The second one has no PL specified. If you want a PL=8 then you will have:

    NOP

    MOVL Pxx0 PL=8

    MOVL Pxx1 PL=8

    END

    Quote

    the motion instruction appears to be executed as though I have set PL0 instead

    Are you sure?

    PL=0 is the highest level, it will cause a temporarily stop of the robot like the highest ACCURACY in AS.

    You can set the PL "accuracy" from 1 to 8 with some S1C parameter in microns(S1CxG33...S1CxG40) but not for the PL=0.

    Check in the inform manual the MOVJ instruction.

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