Yamaha RCX141, User Manual

Page: 78 / 402

4-
20
Operation
4
7. Mode configuration
7.3 Mode hierarchy
Robot operation is mainly performed by pressing the function keys to select the desired
mode from the menu. (Refer to the “Mode hierarchy diagram” described later.)
When the controller is turned on, the “MANUAL” mode menu first appears on the screen.
Pressing the
MODE
key displays the 4 basic modes on the guideline (bottom line) of the
screen as shown below.
Fig. 4-7-1 Mode menu
MANUAL 50% [MG][S0H0J]
Current position
AUTO PROGRAM MANUAL SYSTEM
*M1= 0
*M4= 0 *M2= 0 *M3= 0
These are basic modes at the highest hierarchy on the menu. The display position for each
mode name corresponds to each function key of
F 1
,
F 2
,
F 3
and
F 4
from the left.
For example, when the
F 1
(AUTO) key is pressed, “AUTO” mode is entered.
Fig. 4-7-2 “AUTO” mode menu
AUTO [T1] 100% <TEST1 >
1 ’***** TEST1 PROGRAM *****
2 ’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-
When “AUTO” mode is entered, the submenu for the “AUTO” mode operation appears
on the guideline.
The submenu also corresponds to the function keys from
F 1
to
F 15
. (See Fig. 4-
7-4.)