Yamaha RCX222, User Manual

Page: 180 / 524

4-82
Chapter
4
OPERA
TION
4-83
11. "MANUAL" mode
11. "MANUAL" mode
Point data and shift data coordinates can be defined and edited in "MANUAL" mode.
The initial "MANUAL" mode screen is shown below.
■
"MANUAL" mode
o
Guideline
MANUAL 50%[MG][S0H0X]
s@ —————————————————————————————————————
Current position
*Mx= 0.00 *My= 0.00 *Mz= 0.00
*Mr= 0.00
POINT PALLET VEL+ VEL-
q
Mode hierarchy w
Manual movement
speed
e
Robot group
u
Sequence
program
execution mark
y
Online
command
execution mark
i
Current
position
r
SHIFT/HAND
/coordinate units
t
Message line
q
Mode hierarchy
Shows the current mode hierarchy. When the highest mode ("MANUAL" in this case)
is highlighted it means the servomotor power is on. When not highlighted it means
the servomotor power is off.
w
Manual movement speed
Shows the robot movement speed selected for manual operation.
e
Robot group
This shows the robot group currently selected for manual movement.
When one robot is specified, only "[MG]" (main group) appears.
r
SHIFT/HAND/coordinate units
Shows the shift coordinate number, hand definition number and coordinate units.
t
Message line
If an error occurs, the error message appears here. A dashed line ( - - - - ) means
return-to-origin is incomplete. A solid line ( —— ) means return-to-origin return is
complete.
y
Online command execution mark
When an online command is being executed, a "@" mark is displayed in the second
column on the second line. This mark changes to a dot "." when the online command
ends.
u
Sequence program execution mark
When a sequence program is being executed, an "s" mark is displayed in the first
column on the second line.