Yamaha CEmarking RCX221, User Manual

Page: 88 / 468

4-20
Chapter
4
OPERA
TION
(2) "AUTO" mode
Select this mode to execute robot programs. Robot programs can be executed only in
this mode. Operable tasks in this mode differ depending on the parameter settings in
"SERVICE" mode.
(3) "PROGRAM" mode
Select this mode to create and edit robot programs. Robot programs can be edited on
the RPB screen.
(4) "MANUAL" mode
Select this mode to move the robot manually or perform point teaching. Return-to-
origin or absolute search operation and manual movement can be executed only in
this mode.
Operable tasks in this mode differ depending on the parameter settings in "SERVICE"
mode.
n
NOTE
• Return-to-origin can be performed only in "MANUAL" mode.
• "AUTO" mode may be selected depending on the execution level when
the robot controller is turned on.
(5) "SYSTEM" mode
Select this mode to perform maintenance and adjustment of the YAMAHA robots such
as robot parameter and axis parameter settings.
7.2 Other operation modes
Other than the basic operation modes the following two modes are also available.
(1) "DI/DO Monitor" mode
(2) "UTILITY" mode
These modes can be selected with the control keys.
(1) "DI/DO Monitor" mode
Use this mode to monitor the robot controller I/O status or task status on the RPB
screen. Use to select this mode.
(2) "UTILITY" mode
Use this mode to perform maintenance of the YAMAHA robots such as recovery from
emergency stop and motor servo on/off switching. Use to select this mode.
7. Mode configuration