Inform Jobs: Single Or Nested Programs - YASKAWA Smart Series Application Note

INFORM JOBS: SINGLE OR NESTED PROGRAMS

The CALLJOB command can be leveraged on Smart Pendant to achieve the following:
1. User creates a "sub-job" with all logic required to operate the gripper (e.g. Robotiq-2F)
2. User creates a "master-job" (e.g. Robotiq-Master) that opens/closes the gripper using a single
line to call sub-job (CALL Job: Robotiq-2F) with the following user-customizable parameters:

Force

Speed:

Position:

Grip:
NOTE: This sub-job is only a reference. The user should review its contents to determine whether
it contains ALL necessary logic for the intended application.
A brief example of master-job → sub-job method is provided below.
The "Robotiq-2F.JBI" sub-job that was previously loaded to the pendant achieves the following:

Reads job arguments that contain parametric gripper data (i.e. force, speed, position, grip)
passed by the user from the master job to the sub-job using the "Call Job:" command.
0 = Minimum Force, 255 = Maximum Force
0 = Minimum Speed, 255 = Maximum Speed
0 = Open, 255 = Closed
0 = External Grasp, 1 = Internal Grasp
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