Changing The Execution Level - Yamaha RCX240 User Manual

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
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.
Program
Level
execution
at origin
incomplete
LEVEL0 Disabled
LEVEL1 Enabled
LEVEL2 Enabled
LEVEL3 Enabled
LEVEL4 Enabled
LEVEL5 Enabled
LEVEL6 Enabled
LEVEL7 Enabled
LEVEL8 Enabled
Note 1: When the DI17 (Absolute reset/Return-to-origin) is valid in "AUTO" mode, turns
on during processing DO13 (Robot program-in-progress).
: MOVE, MOVE2, MOVEI, MOVEI2, DRIVE, DRIVE2, DRIVEI,
DRIVEI2, PMOVE, PMOVE2, PATH START
Description
When power is turned on
Program
Mode
reset
MANUAL mode NO
MANUAL mode NO
MANUAL mode YES
AUTO mode NO
AUTO mode YES
MANUAL mode YES
AUTO mode YES
AUTO mode NO
AUTO mode YES
14. "UTILITY" mode
Program Return-to-
reset at origin signal
program in AUTO
start mode
NO Invalid
NO Invalid
NO Invalid
NO Invalid
NO Invalid
YES Invalid
YES Invalid
NO Valid
YES Valid
Chapter 4 OPERATION
1
2
3
4
5
6
(Note 1)
(Note 1)
7
8
9
10
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