Yamaha RCX141, User Manual

Page: 90 / 402

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Operation
4
9. “AUTO” mode
9.4 Switching task display
When a program executing multiple tasks is stopped, the program listing for each task
can be displayed.
[Procedure]
1) Press the
STOP
key during program execution to stop the program.
2) Press the
ESC
key to display the program listing.
The pointer indicates the next command line number to be executed in the current
task.
Fig. 4-9-9 Main task (T1) display
AUTO [T1] 100% <TEST1 >
5 MOVE P,P0
6 *L1:
7 MOVE P,P1
8 MOVE P,P2
9 GOTO *L1
RESET TASK DIR VEL+ VEL-
3) Press the
F 2
(TASK) key to select a lower-order task program.
Each time the
F 2
(TASK) key is pressed, lower-order task programs
(T2
→
T3
→
…T8) are displayed.
At this time, the pointer indicates the next command line number to be executed in
each task.
Fig. 4-9-10 Sub task (T2 to T8) display
AUTO [T2] 100% <TEST1 >
11 WAIT DI2(0)=1
12 DO2(1)=1
13 DELAY 1000
14 DO2(1)=0
15 WAIT DI2(0)=0
RESET TASK DIR VEL+ VEL-