Yamaha RCX141, User Manual

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Operation
4
10. “PROGRAM” mode
Robot language programs can be edited, deleted and managed in “PROGRAM” mode.
The initial “PROGRAM” mode screen is shown in Fig. 4-10-1.
On entering “PROGRAM” mode, the currently selected program appears on the screen.
Fig. 4-10-1 “PROGRAM” mode
q
Mode hierarchy
w
Program name
e
Message line
r
Online command
execution mark
t
Selected line
display
y
Guideline
PROGRAM <TEST2 >
1 '***** TEST2 PROGRAM *****
2 GOSUB *SUBPROG
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ‘ORIGIN
EDIT DIR COMPILE
— @ ————————————————————————————————————————
1 2 3
q
Mode hierarchy
Shows the current mode hierarchy. When the highest mode (“PROGRAM” in this
case) is highlighted it means the servomotor power is on. When not highlighted, it
means the servomotor power is off.
w
Program name
Shows the program name currently selected.
e
Message line
This line shows the number of digits of the program. If an error occurs, the error
message also appears here.
r
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.
t
Selected line display
In the program listing, the line number to be edited is highlighted.
y
Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.