Yamaha RCX141, User Manual

Page: 86 / 402

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Operation
4
9. “AUTO” mode
9.1 Automatic operation
Program commands are executed continuously during automatic operation. Before starting
automatic operation, make sure that return-to-origin, program debugging, I/O signal
connections and point data teaching have already been completed. When the execution
level is set to other than level 0, automatic operation is possible even if return-to-origin is
incomplete.
[Procedure]
Press the
START
key in “AUTO” mode.
Command statements are executed in order from the line number where the pointer is
displayed.
The program listing disappears during automatic operation and the message “Running”
appears on the message line (the second line).
The message line changes from a single solid line to a double-solid line when automatic
operation starts.
Fig. 4-9-3 Automatic operation in progress
AUTO [T1] 100% <TEST1 >
0.2:Running
RESET TASK DIR VEL+ VEL-
The following keys are enabled during automatic operation.
ROBOT
(
+ )
LOWER
MODE
Valid keys
F9
F10
Menu
VEL++
VEL- -
Function
Increases automatic movement speed for the selected robot group in 5% increments.
Decreases automatic movement speed for the selected robot group in 5% decrements.
Switches the selected robot group.
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NOTE
Regardless of the execution level, some
commands such as the robot movement
commands cannot be executed if
return-to-origin is incomplete.
When the execution level 5, 6 or 8 is
selected, the program will always be
executed from the beginning.
n
NOTE
When automatic movement speed was
changed during automatic operation, it
is enabled after the automatic
operation is complete.
w
WARNING
• Upon pressing the
START
key,
the robot starts to move. To
avoid danger, do not enter
the robot movement range.
• When changing the
automatic movement speed
during automatic operation,
check safety for surrounding
areas.