Yamaha RCX222, User Manual

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Chapter
4
OPERA
TION
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.
n
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.
[Procedure]
Press 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.
w
WARNING
• UPON PRESSING , 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.
■
Automatic operation in progress
AUTO [T1] 100% <TEST1 >
0.2:Running
RESET TASK DIR VEL+ VEL-