Yamaha CEmarking RCX221, User Manual

Page: 116 / 468

4-48
Chapter
4
OPERA
TION
9. "AUTO" mode
9.10 Executing a step
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WARNING
THE ROBOT MAY BEGIN TO MOVE WHEN STEP IS EXECUTED. TO AVOID DANGER,
DO NOT ENTER THE ROBOT MOVEMENT RANGE.
[Procedure]
1) Press (STEP) in "AUTO" mode.
2) Each time this key is pressed, the command statement of the highlighted line number
is executed.
After execution, the pointer moves to the next line.
If the command statement is a sub-routine or sub-procedure, its top line is executed.
■
STEP execution
AUTO
[T1] 100% <TEST1 >
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
STEP SKIP NEXT
>
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NOTE
During STEP, SKIP and NEXT execution, the message "Running" is displayed on
the screen.
After execution is complete, the pointer moves to the line number of the
next command statement.
9.11 Skipping a step
[Procedure]
1) Press (SKIP) in "AUTO" mode.
2) The program moves (skips) to the next line each time this key is pressed without
executing the command statement of the line number where the pointer is displayed.