Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-87
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
r
SHIFT/HAND
/coordinate units
t
Message line
y
Online
command
execution mark
u
Sequence
program
execution mark
i
Current
position
o
Guideline
"MANUAL" mode (with auxiliary axis)
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.
When two robots (main and sub robots) are specified, two speeds are displayed for
"
Main group speeds
/
Sub group speeds
", with the currently selected group highlighted.
e
Robot group
This shows the robot group currently selected for manual movement.
When one robot is specified, only "[MG]" (main group) appears.
When two robots are specified, the "[MG]" (main group) or "[SG]" (sub group) appears, which
can be switched with the ( + ).
r
SHIFT/HAND/coordinate units
Shows the shift coordinate number, hand definition number and coordinate units. When two
robots are specified, the main group or sub group number and coordinate units appear, which
can be switched with the ( + ).
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.