Yamaha RCX240, User Manual

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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14. "UTILITY" mode
14.5 Changing the execution level
Program execution levels can be set as shown in the table below. However, the following
commands are usable only when return-to-origin is complete.
Movement commands : MOVE, MOVE2, MOVEI, MOVEI2, DRIVE, DRIVE2, DRIVEI,
DRIVEI2, PMOVE, PMOVE2, PATH START
Position acquisition command : WHERE, WHERE2, WHRXY, WHRXY2
n
NOTE
Execution level is automatically set to "LEVEL 0" in the following cases.
1. When parameter data was damaged.
2. When system generation data was damaged.
Level
Description
Program
execution
at origin
incomplete When power is turned on Program
reset at
program
start Return-to-
origin signal
in AUTO
mode
Mode
Program
reset
LEVEL0 Disabled MANUAL mode NO NO Invalid
LEVEL1 Enabled MANUAL mode NO NO Invalid
LEVEL2 Enabled MANUAL mode YES NO Invalid
LEVEL3 Enabled AUTO mode NO NO Invalid
LEVEL4 Enabled AUTO mode YES NO Invalid
LEVEL5 Enabled MANUAL mode YES YES Invalid
LEVEL6 Enabled AUTO mode YES YES Invalid
LEVEL7 Enabled AUTO mode NO NO Valid
(Note 1)
LEVEL8 Enabled AUTO mode YES YES Valid
(Note 1)
Note 1: When the DI17 (Absolute reset/Return-to-origin) is valid in "AUTO" mode, turns
on during processing DO13 (Robot program-in-progress).