Yamaha CEmarking RCX221, User Manual

Page: 96 / 468

4-28
Chapter
4
OPERA
TION
9. "AUTO" mode
9. "AUTO" mode
"AUTO" mode executes robot language programs and related tasks.
The initial "AUTO" mode screen is shown below.
■
"AUTO" mode
AUTO [T1] 100% <TEST1 >
s@ —————————————————————————————————————
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-
:
Mode hierarchy
@
Task display
. Automatic movement speed
;
Program name
= Message line
B
Online command
execution mark
>
Sequence
program
execution mark
2 Pointer display
8
Guideline
q
Mode hierarchy
Shows the current mode hierarchy. When the highest mode ("AUTO" in this case) is
not highlighted, it means the servomotor power is off. When highlighted, it means the
servomotor power is on.
w
Task display
Shows the task number for the program listing being displayed.
e
Automatic movement speed
Robot movement speed is displayed during automatic operation.
r
Program name
Shows the program name currently selected.
t
Message line
If an error occurs, the error message appears here. A dashed line means return-to-
origin is incomplete. A solid line means return-to-origin return is complete. A double-
solid line means automatic operation is in progress.
y
Online command execution mark
When an online command is being executed, an "@" mark is displayed in the second
column on the second line. This mark changes to a dot "." when the online command
ends.
u
Sequence program execution mark
When a sequence program is being executed, an "s" mark is displayed in the first
column on the second line.