Yamaha RCX40, Руководство пользователя

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Operation
4
11. “MANUAL” mode
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
/
sub group
”, 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, “[MG]” (main group) or “[SG]” (sub group) appears,
which can be switched with the ROBOT (
LOWER
+
MODE
) key.
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 ROBOT (
LOWER
+
MODE
) key.
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.
i
Current position
This shows the current position of the robot. When an “M” or “S” letter is followed by
a number it indicates the position in “pulse” units (integer display) and when an “x” to
“a” letter follows, it indicates “mm” units (decimal point display). When an asterisk
(*) appears at the left of the “M” and “S” letters, it indicates the origin sensor is on. No
asterisk appears when not using an origin sensor.
An “M” letter means the main robot axis, and an “S” letter means the sub robot axis.
When auxiliary axes are specified, the lower-case letters “m” and “s” appear instead
of upper-case letters.
o
Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.