Yamaha RCX142, User Manual

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4-
146
Operation
4
12. “SYSTEM” mode
The “SYSTEM” mode controls all kinds of operating conditions for the overall robot system.
The initial screen in “SYSTEM” mode is shown in Fig. 4-12-1.
Fig. 4-12-1 “SYSTEM” mode
q
Mode hierarchy
e
Message line
w
Version display
t
r
Robot model
name
Online command
execution mark
y
Axis
configuration
u
Standard system
configuration
i
Other
expanded
configurations
o
Guideline
SYSTEM V8.35
Robot = TXYx-A
Axes = XYZR
Standard = SRAM/364kB,DIO_N
Opt-i/f = DIO_N(1/2)
PARAM CMU OPTION INIT DIAGNOS
@
q
Mode hierarchy
Shows the current mode hierarchy. When the highest mode (in this case “SYSTEM”)
is highlighted it means the servomotor power is on. When not highlighted it means the
servomotor power is off.
w
Version display
Shows the version number of software currently installed in the robot controller.
In the case of the RCX142-T, a letter "T" is displayed at the end of the software
version number.
e
Message line
If an error occurs, the error message appears here.
r
Online command execution mark
When an online command is being executed, a “@” mark appears in the second col-
umn on the second line. This mark changes to a dot ( . ) when the online command
ends.
t
Robot model name
Shows the robot model name specified by the controller.
When two robots (main robot and sub robot) are specified, their model names appear
separated by a slash ( / ).
y
Axis configuration
Shows the axis configuration of the robot connected to the controller.
When two robots (main robot and sub robot) are specified, their axis configurations
appear separated by a slash ( / ). If an auxiliary axis is added, it also appears preceded
by a plus mark (+).
u
Standard system configuration
Shows the memory type and size and standard DIO type.
Display
DIO_N
DIO_P
Meaning
Standard DIO works on NPN specifications.
Standard DIO works on PNP specifications.
c
CAUTION
See "7. I/O connections" in Chapter
3 for a definition of NPN and PNP
specifications.