Yamaha RCX141, Руководство пользователя

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Operation
7. Mode configuration
(3) “PROGRAM” mode
Select this mode to create and edit robot programs. Robot programs can be edited on
the MPB screen.
(4) “MANUAL” mode
Select this mode to move the robot manually or perform point teaching. Return-to-
origin or absolute search operation and manual movement can be executed only in
this mode.
Operable tasks in this mode differ depending on the parameter settings in “SERVICE”
mode.
(5) “SYSTEM” mode
Select this mode to perform maintenance and adjustment of the YAMAHA robots
such as robot parameter and axis parameter settings.
7.2 Other operation modes
Other than the basic operation modes the following two modes are also available.
(1) “DI/DO Monitor” mode
(2) “UTILITY” mode
These modes can be selected with the control keys.
(1) “DI/DO Monitor” mode
Use this mode to monitor the robot controller I/O status or task status on the MPB
screen. Use the
DISPLAY
key to select this mode.
(2) “UTILITY” mode
Use this mode to perform maintenance of the YAMAHA robots such as recovery from
emergency stop and motor servo on/off switching. Use the
UTILITY
key to select this
mode.
n
NOTE
• Return-to-origin can be performed
only in “MANUAL” mode.
• “AUTO” mode may be selected
depending on the execution level
when the robot controller is turned
on.