Yamaha RCX40, User Manual

Page: 85 / 388

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Operation
9. “AUTO” mode
“AUTO” mode executes robot language programs and related tasks.
The initial “AUTO” mode screens are shown in Fig. 4-9-1 and Fig. 4-9-2.
Fig. 4-9-1 “AUTO” mode (one-robot setting)
AUTO [T1] 100% <TEST1 >
s@ —————————————————————————————————————
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-
q
Mode hierarchy
w
Task display
e
Automatic movement speed
r
Program name
t
Message line
y
Online command
execution mark
u
Sequence
program
execution mark
i
Pointer display
o
Guideline
Fig. 4-9-2 “AUTO” mode (two-robot setting)
AUTO [T1] 50% /100% <TEST1 >
s@ —————————————————————————————————————
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-
q
Mode hierarchy w Task display
e
Automatic movement speed
r
Program name
t
Message line
y
Online command
execution mark
u
Sequence
program
execution mark
i
Pointer display
o
Guideline
q
Mode hierarchy
Shows the current mode hierarchy. When the highest mode (“AUTO” in this case) is
not highlighted, it means the servomotor power is off. When highlighted, it means the
servomotor power is on.
w
Task display
Shows a task number in the program list currently displayed.
e
Automatic movement speed
Robot movement speed is displayed during automatic operation.
When two robots are specified, two speeds are displayed for “
main group
/
sub group
”,
with the currently selected group highlighted.
r
Program name
Shows the program name currently selected.
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. A double-
solid line means automatic operation is in progress.