YASKAWA Motoman NX100 Manual page 18

1 Outline
The macro command function registers a prepared job as a macro command and then carries
out the job by the macro command.
With the macro command function, system integrators who apply various MOTOMAN robot
systems can freely create INFORM (a robot programming language used in NX100) that cor-
responds to each system.
The macro command function enables an easier robot system with use of the key customize
function. (Refer to "8.15 Numeric Key Customize Function" in "NX100 INSTRUCTIONS" for
details.)
Features
T
• A job prepared with the macro command function by user is registered as a macro com-
mand.
• The contents of macro command can be prepared with INFORM, which is the same man-
ner as the normal job data.
• An argument tag can be added to a macro command like a normal instruction. Macro
commands and their argument tags can be easily programmed at will in the job data dis-
play.
< Example > Macro command for sealing
SEALON WIDTH=8
• The macro commands can be used in the same way as the other instructions. Unlike the
CALL instruction, end users do not have to consider the restarting method in case of a job
interruption.
• The macro command function enables settings for post-processing of the job interruption,
such as the cancellation of current work instruction, etc.
• If a macro command is interrupted during the execution, the interrupted macro command
is reexecuted from the beginning when the operation is restarted.
The macro command function is enabled only when the security mode is in the manage-
NOTE
ment mode.
Argument tag to specify the sealing width
Macro command to start sealing
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