Macro DX100

Paolo

Are you asking for the name of the MANUAL explains the Macro function? I don't think anyone is sure what you are asking.... please clarify. Thanks

Think he has same question as me - where can you find a Motoman manual to explain what are Macros and how to use them and where they are advantageous over normal JOBs

If your robot came with macro function, then there should have been a MACRO FUNCTION manual (probably on CD). Check to see if this came with your robot, and if not, contact your local Yaskawa Motoman representative.

The MACRO function essentially allows you to write a series of commands through use of one command, a MACRO, that shows up under INFORM LIST - MACRO. You must first create a MACRO job in Management mode, and then set up has to be done in Management mode under SETUP - MACRO INSTRUCTION (or something similar).

A macro job is used as an instruction (selected from the INFORM list)
it is a special call that can use arguments
using arguments the job can be manipulated to respond differently.
has a higher security access level than standard jobs

an example is a job that plots a shape path and creates the points....(circle, square, slot, etc......) based on a single center point.
using arguments the job can change the size and orientation of the shape....
In the following example the job is written as a macro with 1 argument. All the code is hidden and the radius is set to produce different sizes.
CIRCLE is the macro job name
RADIUS is the argument name
20 is the value you can change
NOP
MOVJ //is a starting point
MOVJ //is the center point of shape
CIRCLE RADIUS 20 //the macro to make a circle and use 20 mm for the radius
MOVJ //return to starting point
END

i have a question concerning macros. i have a robot with a toolchanger and i was thinking of making a macro and select only the tool No. my only problem comes to the fact that i read in the manual the following
"If a macro command is interrupted during the execution, the interrupted macro command is reexecuted from the beginning when the operation is restarted"
and i am afraid for colisions. I can use a standard job and call it but this can be easily changed by a curious operator. if anyone has experienced this please respond

regards

"If a macro command is interrupted during the execution, the interrupted macro command is reexecuted from the beginning when the operation is restarted" and i am afraid for colisions.

That is correct as default. The macro job starts at the NOP when interrupted and you do not see the macro job running. Cursor sits in the parent job on the macro instruction.

S2C438=1 though will allow the macro job to continue from where the cursor is when interrupted . But the macro job can be seen while running just like a child job with the CALL instruction.

Generally in a macro job there is either no motion or very tight controlled motion.

i made a standard job and used the ARG to select tool and it runs ok. i will make it read only from the atrributes and my problem solved.
thank you for your answer.