Yamaha ERCX Series, User Manual

Page: 162 / 260

9-
10
9
OPERA
TING THE ROBOT
9-3 Using Automatic Operation
8) This is the screen displayed while the program
is being executed.
[OPRT-AUTO]
running ...
[OPRT-AUTO]
60:program end
[OPRT-AUTO] 50 1:11
010:WAIT 0 ,1
[ 250.00]
1S_ON2CHGT3MIO 4next
[OPRT-AUTO] 50 2:12
015:DO 1 ,1
[ 250.00]
[ 250.00]
[ 250.00]
[OPRT-AUTO] 50 0:10
035:TIMR 100
1SPD 2RSET3CHG 4next
[OPRT-AUTO] 50 0:10
001:MOVA 999,50
1SPD 2RSET3CHG 4next
1S_ON2CHGT3MIO 4next
9) Pressing
STOP
during execution brings the ro-
bot to a halt and displays the message "stop
key". Press the
ESC
key to display the step
where execution was interrupted.
Pressing
RUN
will cause execution to resume
from the step where it was interrupted. When
the last step has been executed, the message
"program end" is displayed. Pressing the
ESC
key returns the screen to that shown in Step 7.
10)To switch to the display of another task in a
multi-task program, press
F4
(next) to change
the function menu display and then press
F2
(CHGT).
11)Each time you press
F2
(CHGT), the task
display is switched.
12)To return to the first step of the program from
any other step and initiate execution again, press
F2
(RSET).
13)The screen returns to step 5, and the process is
repeated from that point.
c
CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Automatic operation cannot be performed in "SERVICE mode state" when automatic operation and step
operation are prohibited.
• Robot movement speed is limited to 3% or less of maximum speed in "SERVICE mode state" when the robot
movement speed limit is enabled.
• If the hold-to-run function is enabled, automatic operation stops upon releasing
RUN
in "SERVICE mode
state".